controller

Abstract

To make replacement of components of a power supply system arranged in a housing easy. In a controller (1), there are provided: a housing (2) provided with an external power source connector (70); a power supply portion (14) that converts alternating current supplied from the external power source connector (70) into direct current; and a control circuit substrate (4) to which direct current is supplied by the power supply portion (14). The power supply portion (14) includes: a power supply unit (7) including a frame (72) that is detachable with respect to the housing (2) and a first electronic component (71) fixed to the frame (72); and a second electronic component (15) fixed to the housing (2). The housing (2) includes an opening portion (20) through which the power supply unit (7) is inserted and removed.

Description

Technical Field

[0001] The present invention relates to a controller including a power supply unit and a frame. Background Art

[0002] Patent Document 1 describes a robot controller comprising a control circuit board and multiple drive circuit boards connected to the control circuit board. Each drive circuit board is arranged vertically relative to the control circuit board. A power module and a metal heat sink are mounted on each drive circuit board.

[0003] The controller disclosed in Patent Document 1 includes a rectangular parallelepiped housing that houses multiple units, including a control circuit board and a driver circuit board, as well as a power supply circuit board, a communication interface board, and a driver voltage generation board. The housing is constructed by assembling a lower housing member, which connects the right and left panels at opposite ends of a bottom panel, and an upper housing member, which includes a front panel equipped with multiple I / O ports and a top panel.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 5803213 Summary of the Invention

[0007] The controller of Patent Document 1 comprises: an external power connector arranged on the front panel; a noise filter provided with a filter circuit for removing noise from the AC current input by the external power connector; and a power supply circuit substrate provided with a DC-AC conversion circuit for converting the AC current from which the noise has been removed, and other components of the power supply system.

[0008] When assembling existing controllers, the power supply system components are generally larger and heavier than other components. Therefore, they are typically installed first in the housing, followed by other components. Consequently, replacing a power supply system component requires removing the other components. Furthermore, replacement requires disconnecting the wiring connecting the power supply system components. However, to access the wiring that runs between components, the components must be removed where the wiring passes. Consequently, if a power supply system component malfunctions, replacement becomes laborious.

[0009] In view of the above problems, the present invention aims to facilitate replacement of components of a power supply system disposed in a housing.

[0010] In order to solve the above technical problems, the present invention is characterized in that it comprises: a frame, which is provided with an external power connector; a power supply unit, which converts the AC current provided from the external power connector into a DC current; and a substrate, which is provided with a DC current by the power supply unit, and the power supply unit comprises: a power supply unit, which has a frame that can be loaded and unloaded relative to the frame and a first electronic component fixed to the frame; and a second electronic component, which is fixed to the frame, and the frame has an opening for plugging and unplugging the power unit.

[0011] According to the present invention, a part of the electronic components constituting the power supply portion (the first electronic component) is mounted on a frame to form a power supply unit, and an opening portion capable of plugging and unplugging the power supply unit is provided on the frame. Therefore, the power supply unit can be easily removed from the frame without removing components other than the power supply unit from the frame. Therefore, when a malfunction occurs in the first electronic component, it can be easily replaced. In addition, the electronic components constituting the power supply portion are selected, and a part of the electronic components (the second electronic component) is not mounted on the power supply unit but fixed to the frame. Therefore, the power supply unit can be miniaturized, and the opening portion of the frame for loading and unloading the power supply unit can be reduced. Therefore, the rigidity of the frame can be suppressed from being reduced, and the deformation of the frame can be suppressed.

[0012] In the present invention, when the direction in which the power supply unit is inserted and removed from the housing is defined as the attachment and removal direction, the length of the power supply unit in the attachment and removal direction is preferably greater than its maximum dimension in a direction intersecting the attachment and removal direction. This allows the opening of the housing to be smaller, thereby minimizing a reduction in the rigidity of the housing and suppressing deformation of the housing.

[0013] In the present invention, the power supply unit preferably includes a stopper that abuts the frame in the attachment and removal direction. This facilitates positioning of the power supply unit. Furthermore, since the power supply unit can be limited from being inserted further inward than the fixed position, it is possible to avoid problems caused by collisions with other components during installation.

[0014] In the present invention, the frame preferably includes a guide portion that guides the frame in the installation and removal direction. This allows the power supply unit to be installed in the correct position. Furthermore, it can avoid problems caused by collisions with other components during installation of the power supply unit.

[0015] In the present invention, the second electronic component may include a noise filter disposed adjacent to the power supply unit in a direction intersecting the attachment and detachment direction. This shortens the wiring path connecting the power supply unit and the noise filter.

[0016] In the present application, it is preferable that the frame body is provided with a reinforcing member for reinforcing the opening portion. This makes it possible to suppress a decrease in the rigidity of the frame body due to the provision of the opening portion, and to suppress deformation of the frame body.

[0017] In the present application, it is preferable that a power supply cover is fixed inside the frame body, the power supply unit is plugged in the inside of the power supply cover, at least a part of the first electronic component is exposed to the outside of the frame, and is covered by the power supply cover. This makes it possible to effectively utilize the space inside the frame body, since it is possible to secure a space for providing other components outside the power supply cover. Further, by forming the frame constituting the power supply unit in a shape that does not overlap the power supply cover, it is possible to omit the frame of the power supply unit in this portion, and to downsize the power supply unit. Thus, it is possible to achieve downsizing and weight reduction of the power supply unit.

[0018] In the present application, it is preferable that a relay connector connecting the power supply unit is provided on the power supply cover. This makes it possible to provide direct current output from the power supply unit to the substrate via the relay connector. Thus, when the power supply unit is attached and detached, and the wiring is detached, it is only necessary to work on the relay connector, and thus, it is not necessary to lead the wiring hidden by other components. Thus, the work of detaching the wiring of the power supply unit, and the work of connecting the wiring of the power supply unit are easy.

[0019] In the present application, it is preferable that at least a part of the second electronic component is fixed on the power supply cover. This makes it possible to secure a space for providing the second electronic component in the vicinity of the power supply unit.

[0020] In the present application, it is preferable that the frame body is provided with an interface panel provided with the external power supply connector, and a back panel opposite to the interface panel, the opening portion is provided in the back panel, and an input terminal connected to the external power supply connector via the second electronic component is provided at the front end of the interface panel side of the power supply unit. This makes it possible to shorten the wiring path, since it is possible to provide the input terminal in the vicinity of the external power supply connector, and thus, the wiring work is easy.

[0021] In the present application, it is preferable that the frame body is provided with a bottom plate intersecting the back panel, and the power supply unit is provided with an output terminal provided at the end portion of the frame on the side opposite to the bottom plate. This makes it possible to locate the output terminal at an easily accessible position without being hidden by other components, when the upper plate of the frame body is detached. Thus, the work on the output terminal is easy, and it is not necessary to lead the wiring hidden by other components. Thus, the work of detaching the wiring from the power supply unit, and the work of connecting the wiring of the power supply unit are easy.

[0022] Effects of the Invention

[0023] According to the present invention, a part of the electronic components constituting the power supply portion (the first electronic component) is mounted on a frame to form a power supply unit, and an opening portion capable of plugging and unplugging the power supply unit is provided on the frame. Therefore, the power supply unit can be easily removed from the frame without removing components other than the power supply unit from the frame. Therefore, when a malfunction occurs in the first electronic component, it can be easily replaced. In addition, the electronic components constituting the power supply portion are selected, and a part of the electronic components (the second electronic component) is not mounted on the power supply unit but fixed to the frame. Therefore, the power supply unit can be miniaturized, and the opening portion of the frame for loading and unloading the power supply unit can be reduced. Therefore, the rigidity of the frame can be suppressed from being reduced, and the deformation of the frame can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a perspective view of the appearance of a controller to which the present invention is applied.

[0025] Figure 2 It is a perspective view showing a state where the power supply unit is removed from the housing of the controller.

[0026] Figure 3 It is a plan view showing the internal structure of a housing in which the power supply unit is mounted.

[0027] Figure 4 It is an exploded perspective view showing the internal structure of a housing in which the power supply unit is mounted.

[0028] Figure 5 This is an exploded perspective view showing the internal structure of the housing with the power supply unit removed. DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of a controller to which the present invention is applied will be described with reference to the drawings. A controller 1 of this embodiment is a device that supplies power to a robot (manipulator) including actuators such as motors.

[0030] Figure 1 It is a perspective view of the appearance of a controller 1 to which the present invention is applied. Figure 2 It is a perspective view showing a state where the power supply unit 7 is removed from the housing 2 of the controller 1 . Figure 3 It is a plan view showing the internal structure of the housing 2 in which the power supply unit 7 is mounted, and is a plan view obtained by removing the second case 22 from the housing 2 and viewing the housing from the Z2 side. Figure 4 It is an exploded perspective view showing the internal structure of the housing 2 with the power supply unit 7 mounted thereon, and shows a state in which the second housing 22 is removed from the housing 2 and the second interface panel 24 is removed from the housing frame 25 toward the X1 side. Figure 5is an exploded perspective view showing the internal structure of the housing 2 after the power supply unit 7 is detached, and is an exploded perspective view showing a state in which the second housing 22 is detached from the housing 2, the power supply unit 7 is detached toward the X2 side, and the second interface panel 24 is detached from the housing frame 25 toward the X1 side.

[0031] In the present specification, the three directions of XYZ are mutually orthogonal directions. In the present specification, for convenience, the first direction Z is taken as the up-down direction of the controller 1. The Z1 direction is the lower side, and the Z2 direction is the upper side. The second direction X is the front-rear direction of the controller 1. The X1 direction is the front side, and the X2 direction is the rear side. The third direction Y is the width direction of the controller 1. The Y1 direction and the Y2 direction are one side and the other side of the third direction Y. In addition, in the actual usage mode of the controller 1, the first direction Z can not coincide with the up-down direction (the vertical direction).

[0032] (Overall structure)

[0033] As shown in Figures 1 to 5 , the controller 1 is provided with a housing 2 made of metal. The housing 2 is a rectangular parallelepiped, and is provided with a front panel 2a facing the X1 direction and a back panel 2b facing the X2 direction, a first side panel 2c facing the Y1 direction and a second side panel 2d facing the Y2 direction, a bottom panel 2e facing the Z1 direction, and an upper panel 2f facing the Z2 direction. In the present embodiment, the components constituting the housing 2 include a first housing 21 having the bottom panel 2e, the first side panel 2c, and the back panel 2b, a second housing 22 having the upper panel 2f and the second side panel 2d, a first interface panel 23 and a second interface panel 24 constituting the front panel 2a, and a housing frame 25.

[0034] As shown in Figure 2 , Figure 4 , the housing frame 25 is provided with a rectangular frame-shaped front face frame 26 to which the front panel 2a is fixed, a rectangular frame-shaped back face frame 27 to which the back panel 2b is fixed, and a rectangular frame-shaped side face frame 28 to which the second side panel 2d is fixed. The end portion of the side face frame 28 on the X1 side is fixed to the front face frame 26, and the end portion on the X2 side is fixed to the edge on the Y2 side of the back panel 2b. As shown in Figure 4 , Figure 5 , a grounding component 29 for grounding the housing 2 is arranged on the inner side (X2 side) of the end portion of the second interface panel 24 on the Z1 side.

[0035] As shown in Figure 3As shown, controller 1 includes a communication board unit 3, a control circuit board 4, a driver circuit board unit 5, a driver power supply circuit board unit 6, and a power supply unit 7, all arranged within a housing 2. Furthermore, controller 1 includes two fans 8 installed side by side along a third direction Y within housing 2, and a reinforcement member 9 extending along the third direction Y on the Z2 side of driver power supply circuit board unit 6 and supporting upper plate 2f from the bottom plate 2e side (Z1 side). Reinforcement member 9 is a beam member extending between power supply cover 10 fixed to housing 2 and side frame 28.

[0036] like Figure 3 As shown, the communication board unit 3 is arranged on the back side (X2 side) of the first interface panel 23. The communication board unit 3 is a unit formed by stacking two communication boards and a board fixing panel via spacers along the first direction Z. The plurality of external connection connectors 34 mounted on the communication board unit 3 are respectively arranged in the holes provided in the first interface panel 23 (see Figure 1 ).

[0037] On the back side (X2 side) of the communication board unit 3, a drive power circuit board unit 6 and a drive circuit board unit 5 are sequentially arranged. The drive power circuit board unit 6 is a unit formed by stacking two drive power circuit boards and a support plate with spacers interposed therebetween in the first direction Z. It is fixed to the base plate 2e. Electronic components such as capacitors are mounted on the drive power circuit boards.

[0038] The power supply unit 7 is located at the end of the housing 2 in the Y1 direction. The power supply unit 7 is an elongated unit extending from the back panel 2b to the back side of the external power connector 70 located at the end on the Y1 side of the second interface panel 24. A portion of the power supply unit 7 located midway in the second direction X is located inside the power supply cover 10 secured to the housing 2. As described later, the power supply unit 7 includes a first electronic component 71 that constitutes a DC / AC conversion circuit.

[0039] like Figure 4 As shown, a fuse 11 connected to the external power connector 70 is arranged on the Z2 side of the power cover 10. The fuse 11 is connected to a noise filter 12, which is arranged adjacent to the power cover 10 in the Y2 direction. The noise filter 12 has a filter circuit for removing noise superimposed on the AC current supplied from the external power connector 70 via the fuse 11. Figure 4 As shown, the noise filter 12 is fixed to the base plate 2e via a bracket 13 made of a metal plate.

[0040] The power supply unit 7 converts the AC current distributed from the noise filter 12 into a 5V DC current and a 24V DC current, and supplies the DC current to the control circuit board 4 fixed to the bottom plate 2e of the frame 2 (see FIG. Figure 3). 24V DC current is supplied to the fan 8 via the control circuit board 4. Furthermore, the power supply unit 7 converts the AC current into 15V DC current and supplies it to the drive power circuit board unit 6. The drive power circuit board unit 6 converts the AC current distributed from the noise filter 12 into a drive current (DC current) having a voltage different from the voltage supplied from the power supply unit 7 and supplies it to the drive circuit board unit 5.

[0041] The driving circuit board unit 5 is connected to an external output connector 59 provided on the second interface panel 24. When the connector on the robot side is connected to the external output connector 59, the driving current output from the driving circuit board unit 5 is supplied to the robot.

[0042] The drive circuit board unit 5 includes multiple drive circuit boards and a board holder that holds the boards parallel to the XZ plane. The board holder is fixed to the bottom plate 2e of the chassis 2. Each drive circuit board is mounted with a power module, such as an IGBT module, and is also secured with a heat sink. The drive circuit board unit 5 faces two fans 8 mounted on the back plate 2b of the chassis 2 in the second direction X. Therefore, when the fans 8 are activated, cooling air is blown into the gaps between the drive circuit boards.

[0043] The control circuit board 4 is arranged parallel to the bottom plate 2e at the bottom of the housing 2. A drive circuit board is arranged above the control circuit board 4 (in the Z2 direction) in a perpendicular orientation relative to the control circuit board 4. The drive circuit board is connected to the control circuit board 4 via a connector that engages in the first direction Z.

[0044] (Power supply unit)

[0045] The controller 1 includes a power supply unit 14 that converts the AC current supplied from the external power supply connector 70 into a DC current and supplies the DC current to the control circuit board 4 and the drive power circuit board unit 6. Figure 3 、 Figure 4 、 Figure 5 As shown, the power supply unit 14 includes a power supply unit 7 that is detachable from the housing 2 and a second electronic component 15 fixed to the housing 2. In this embodiment, the second electronic component 15 includes a fuse 11 and a noise filter 12.

[0046] like Figure 2 、 Figure 5 As shown, the power supply unit 7 can be removed from the opening 20 provided at the end of the back panel 2b on the Y1 side in the X2 direction. Therefore, the second direction X is the direction in which the power supply unit 7 is attached to and detached from the frame 2. The outer shape of the power supply unit 7 is such that the length in the second direction X is greater than the maximum width in the third direction Y and the maximum height in the first direction Z (see FIG. Figure 2 、 Figure 5 Therefore, in this embodiment, the direction in which the projected area of ​​the power supply unit 7 is the smallest becomes the direction in which the power supply unit 7 is attached to and detached from the housing 2. The opening 20 of the housing 2 is formed to a size corresponding to the projected area of ​​the power supply unit 7 in the attachment and detachment direction.

[0047] The power supply unit 7 includes: a cylindrical frame 72 extending in the second direction X; a fan cover 73 fixed to the end portion of the frame 72 on the X2 side; and a fan 74 (see FIG. 1 ) disposed on the inner side (X1 side) of the fan cover 73. Figure 2 The power supply unit 7 also includes an input terminal 75 located at the X1-side end of the frame 72 and an output terminal 76 located on the Y2-side side of the frame 72. A first electronic component 71 is located on the X2 side of the input terminal 75. This first electronic component 71 constitutes a DC-AC conversion circuit that converts the AC current distributed from the noise filter 12 into a DC current.

[0048] like Figure 2 As shown, the back frame 27 of the housing 2 includes: a first reinforcement frame 31 extending linearly in the third direction Y along the edge of the opening 20 on the Z2 side; and a second reinforcement frame 32 extending linearly in the first direction Z along the edge of the opening 20 on the Y2 side. The first reinforcement frame 31 and the second reinforcement frame 32 are reinforcement members that reinforce the opening 20. The power supply unit 7 is secured to the housing 2 by having the outer periphery of the fan cover 73 abut against the first reinforcement frame 31 and the second reinforcement frame 32 from the X2 side and screwing them together. In other words, the outer periphery of the fan cover 73 functions as a stopper that abuts against the housing 2 in the second direction X (the direction in which the power supply unit 7 is attached and detached).

[0049] like Figure 5 As shown, the frame 72 includes: a frame upper plate 72a and a frame bottom plate 72b parallel to the XY plane; and frame side plates 72c and 72d parallel to the XZ plane. The frame side plate 72c connects the Y1-direction edges of the frame upper plate 72a and the frame bottom plate 72b, and the frame side plate 72d connects the Y2-direction edges of the frame upper plate 72a and the frame bottom plate 72b. The frame side plate 72d on the Y2 side is provided with a connector for connecting to the output terminal 76 (see FIG. 1 ). Figure 3 The frame bottom plate 72b and the frame side plate 72c extend from the back panel 2b to the second interface panel 24, while the frame top plate 72a and the frame side plate 72d have a length to the X2 side of the power supply cover 10 (refer to Figure 4 Therefore, a portion of the first electronic component 71 disposed on the frame bottom plate 72 b is exposed from the frame 72 and is covered by the power supply cover 10 .

[0050] like Figure 4 、 Figure 5As shown, the power supply cover 10 includes a cover upper plate 10a parallel to the XY plane, and a cover side plate 10b that curves from the Y2-side edge of the cover upper plate 10a toward the Z1 side. The power supply cover 10 is secured to the housing 2 by securing a mounting plate portion (not shown) provided on the Y1-side edge of the cover upper plate 10a to the first side plate 2c, and securing a mounting plate portion (not shown) provided on the Z1-side edge of the cover side plate 10b to the bottom plate 2e.

[0051] Two fuses 11 are fixed to the cover upper plate 10a. Furthermore, multiple relay connectors 16 are fixed to the cover side plate 10b. Some of the relay connectors 16 are located at the Z2-side end of the cover side plate 10b. Wiring (not shown) for the power supply unit 7 is connected to the relay connectors 16. The power supply unit 7 supplies DC current to the control circuit board 4 and the drive power supply circuit board unit 6 via the relay connectors 16. DC currents of different voltages are supplied from the multiple relay connectors 16.

[0052] like Figure 4 、 Figure 5 As shown, the noise filter 12 is provided with three output terminals 12a, 12b, and 12c. The AC current output from the noise filter 12 is distributed from the output terminals 12a and 12b to the drive power circuit board unit 6. In addition, the AC current output from the noise filter 12 is distributed from the output terminal 12c to the power supply unit 7.

[0053] like Figure 3 、 Figure 4 As shown, the input terminal 75 of the power supply unit 7 is located at the front end of the frame 72 in the X1 direction. Therefore, the input terminal 75 is located adjacent to the output terminals 12a, 12b, and 12c located at the X1-side end of the noise filter 12, shortening the wiring path connecting the output terminal 12c and the input terminal 75. An external power connector 70 mounted on the second interface panel 24 is located on the Z2 side of the input terminal 75. The external power connector 70 faces the fuse 11 located on the Z2-side surface of the power supply cover 10 in the second direction X.

[0054] (How to install and remove the power supply unit)

[0055] When removing the power supply unit 7, first, remove the second shell 22 from the frame 2. This allows access to the relay connector 16, and therefore, removes the wiring connected to the power supply unit 7 from the relay connector 16. In addition, since the input terminal 75 and the output terminal 76 can also be reached, the wiring is also removed from the input terminal 75 and the output terminal 76. In this embodiment, a portion of the relay connector 16 is arranged at the end on the Z2 side of the power supply cover 10, and the output terminal 76 is arranged at the end on the Z2 side of the frame side plate 72d. Therefore, when the second shell 22 is removed, it will not be blocked by other components and can be easily reached. Therefore, the work of removing the wiring and the work of connecting the wiring are easy. Next, remove the screws that fix the fan cover 73 to the back frame 27, and pull the power supply unit 7 out of the frame 2 in the X2 direction.

[0056] In addition, in this embodiment, Figure 3 、 Figure 4 As shown, the regenerative circuit module 77 is fixed to the frame upper plate 72a of the power supply unit 7. Therefore, before the power supply unit 7 is removed from the housing, the regenerative circuit module 77 is removed from the frame upper plate 72a.

[0057] Next, when installing the power supply unit 7 into the frame 2, insert the front end of the frame 72 in the X1 direction into the opening 20. Then, insert the frame 72 into the power supply cover 10 while sliding the frame bottom plate 72b and frame side plate 72c onto the bottom plate 2e and first side plate 2c of the frame 2, respectively. In other words, in this embodiment, the bottom plate 2e and first side plate 2c of the frame 2 function as guides for the frame 72, guiding the power supply unit 7 in the attachment and removal direction. The power supply unit 7 is then inserted until the fan cover 73 contacts the rear frame 27 and is screwed to the rear frame 27.

[0058] (Main Effects of This Embodiment)

[0059] As described above, the controller 1 of this embodiment includes: a housing 2 provided with an external power connector 70; a power supply unit 14 that converts AC current supplied from the external power connector 70 into DC current; and a control circuit board 4 that receives DC current from the power supply unit 14. The power supply unit 14 includes a power supply unit 7 and a second electronic component 15 fixed to the housing 2. The power supply unit 7 includes a frame 72 that is removable from the housing 2 and a first electronic component 71 fixed to the frame 72. The housing 2 includes an opening 20 for inserting and removing the power supply unit 7.

[0060] According to this embodiment, a portion of the electronic components that make up the power supply unit 14 (the first electronic component 71) is mounted on the frame 72 to form the power supply unit 7, and an opening 20 is provided in the frame 2 to allow the power supply unit 7 to be inserted and removed. Therefore, the power supply unit 7 can be easily removed from the frame 2 without having to remove components other than the power supply unit 7 from the frame 2. Therefore, if a malfunction occurs in the components of the power supply unit 7, including the first electronic component 71, they can be easily replaced. Furthermore, by selecting the electronic components that make up the power supply unit 14, a portion (the second electronic component 15) is fixed to the frame 2 instead of being mounted on the power supply unit 7. This allows for a smaller power supply unit 7 and reduces the size of the opening 20 in the frame 2 for attaching and detaching the power supply unit 7. This reduces the rigidity of the frame 2 and prevents deformation of the frame 2. Furthermore, by selecting only the electronic components that are frequently replaced as the first electronic component 71 and attaching them to the power supply unit 7, maintenance is facilitated.

[0061] Furthermore, if some of the components constituting the power supply unit 14 are unitized to facilitate attachment and detachment to the housing 2, the components disposed around the power supply unit 7 can be easily accessed by removing the power supply unit 7. Therefore, since the components around the power supply unit 7 can be easily accessed, maintenance is facilitated.

[0062] In this embodiment, the power supply unit 7 includes the fan 74, but the fan 74 may be fixed to the housing 2. The first electronic components 71 mounted on the power supply unit 7 are not limited to components constituting the DC / AC conversion circuit, but may include other electronic components.

[0063] In this embodiment, the direction in which the power supply unit 7 is inserted and removed from the housing 2 (the attachment and removal direction) is the second direction X. The length of the power supply unit 7 in the second direction X is greater than the maximum height of the power supply unit 7 in the first direction Z and the maximum width of the power supply unit 7 in the third direction Y (i.e., the maximum width in a direction intersecting the attachment and removal direction). Thus, by defining the attachment and removal direction as the direction with the smallest projected area of ​​the power supply unit 7, the opening 20 of the housing 2 can be reduced. Consequently, the reduction in the rigidity of the housing 2 caused by the provision of the opening 20, which enables attachment and removal of the power supply unit 7, can be suppressed, thereby preventing deformation of the housing 2.

[0064] In this embodiment, a reinforcing member is provided on the frame body 2 to reinforce the opening portion 20, and the back frame 27 includes a first reinforcing frame 31 and a second reinforcing frame 32 as reinforcing members surrounding the edge of the opening portion 20. Therefore, the reinforcing member can suppress the reduction in rigidity of the frame body 2 caused by the provision of the opening portion 20, thereby suppressing deformation of the frame body 2.

[0065] In this embodiment, the power supply unit 7 includes a fan cover 73 that abuts the frame 2 in the installation and removal direction. The fan cover 73 functions as a stopper when the power supply unit 7 is installed and removed. Therefore, the power supply unit 7 can be easily positioned. Furthermore, since the power supply unit 7 can be inserted further inward than the fixed position, it is possible to avoid problems caused by collisions with other components during installation of the power supply unit 7. Furthermore, the stopper can be provided at a location different from the fan cover 73. For example, the stopper can be provided on the frame 72.

[0066] In this embodiment, the bottom plate 2e and first side plate 2c of the housing 2 function as guides for the frame 72 in the installation and removal direction. This allows the power supply unit 7 to be installed in the correct position, preventing problems caused by collisions with other components. For example, this prevents the power supply unit 7 from being inserted at an angle and colliding with the power supply cover 10, potentially causing damage.

[0067] In this embodiment, the second electronic component 15 includes a noise filter 12 disposed adjacent to the power supply unit 7 in the third direction Y. By not attaching the noise filter 12 to the power supply unit 7, the power supply unit 7 can be miniaturized. Furthermore, the wiring path connecting the power supply unit 7 and the noise filter 12 can be shortened.

[0068] In this embodiment, a power supply cover 10 is fixed within the housing 2. The power supply unit 7 is inserted and removed from its interior. In the power supply unit 7, a portion of the first electronic component 71 is exposed from the frame 72. When the power supply unit 7 is mounted in the housing 2, the portion of the first electronic component 71 exposed from the frame 72 is covered by the power supply cover 10. This ensures space for other components near the power supply unit 7. For example, in this embodiment, a fuse 11 is fixed to the Z2 side of the power supply cover 10, ensuring space for the fuse 11. This effectively utilizes the space within the housing 2 and allows the fuse 11 to be installed near the power supply unit 7. Furthermore, the length of the frame upper plate 72a and frame side plates 72d in the second direction X of the power supply unit 7 is shortened to prevent interference with the power supply cover 10, resulting in a smaller frame 72. This results in a more compact and lightweight power supply unit 7.

[0069] In this embodiment, the second electronic component 15 fixed to the housing 2 of the electronic components constituting the power supply unit 14 is the fuse 11 and the noise filter 12. However, the second electronic component 15 may also include other electronic components. Furthermore, the second electronic component 15 may be at least partially fixed to the power supply cover 10, or the noise filter may be fixed to the power supply cover 10.

[0070] In this embodiment, a relay connector 16 for connecting to the power supply unit 7 is provided on the power supply cover 10. Therefore, it is possible to configure the DC current output from the power supply unit 7 to be supplied to the control circuit substrate 4, etc. via the relay connector 16. By providing such a relay connector, when removing the wiring of the power supply unit 7, it is only necessary to operate the relay connector 16, so that the operation of removing the wiring of the power supply unit 7 is easy. In particular, in this embodiment, the relay connector 16 is arranged at the end of the Z2 side of the cover side plate 10b, and is located in a position that can be reached even without removing the surrounding components. Therefore, since there is no need to lead out the wiring hidden in other components, the operation of removing the wiring of the power supply unit 7 and the operation of connecting the wiring of the power supply unit 7 are easy.

[0071] In this embodiment, the housing 2 includes a second interface panel 24 on which an external power connector 70 is provided, and a rear panel 2b facing the second interface panel 24. An opening 20 is provided in the rear panel 2b. Input terminals 75 are located at the front end of the power supply unit 7 on the second interface panel 24 side. These terminals are connected to the external power connector 70 via the second electronic components 15 (fuse 11 and noise filter 12). This arrangement allows the input terminals 75 to be placed near the external power connector 70, shortening the wiring path and facilitating wiring operations.

[0072] In this embodiment, the frame 2 includes a bottom plate 2e that intersects the back plate 2b. The power supply unit 7 includes an output terminal 76 located at the end of the frame 72 on the side opposite to the bottom plate 2e (the Z2 side). Therefore, when the second frame 22 including the upper plate 2f is removed, the output terminal 76 is not hidden behind other components but is easily accessible. This makes access to the output terminal 76 easy, eliminating the need to remove wiring hidden behind other components. Consequently, both disconnecting and reconnecting the wiring of the power supply unit 7 are easy.

[0073] Explanation of symbols

[0074] 1…Controller, 2…Frame, 2a…Front plate, 2b…Back plate, 2c…First side plate, 2d…Second side plate, 2e…Bottom plate, 2f…Top plate, 3…Communication board unit, 4…Control circuit board, 5…Drive circuit board unit, 6…Drive power supply circuit board unit, 7…Power supply unit, 8…Fan, 9…Reinforcement member, 10…Power supply cover, 10a…Top cover plate, 10b…Side cover plate, 11…Fuse, 12…Noise filter, 12a, 12b, 12c…Output terminal, 13…Bracket, 14…Power supply unit, 15…Second electronic component, 16…Relay connector, 20…Opening, 21…First housing, 22…Second Casing, 23…first interface panel, 24…second interface panel, 25…frame frame, 26…front frame, 27…back frame, 28…side frame, 29…grounding component, 31…first reinforcement frame, 32…second reinforcement frame, 34…connector for external connection, 59…external output connector, 70…external power supply connector, 71…first electronic component, 72…frame, 72a…frame top plate, 72b…frame bottom plate, 72c, 72d…frame side plates, 73…fan cover, 74…fan, 75…input terminal, 76…output terminal, 77…regeneration circuit module, X…second direction, Y…third direction, Z…first direction

Claims

1. A controller, characterized in that: have: a frame body, the frame body being provided with an external power supply connector; a power supply unit that converts an alternating current supplied from the external power connector into a direct current; and a substrate to which a direct current is supplied by the power supply unit; The power supply unit includes: a power supply unit including a frame that is attachable to and detachable from the housing and a first electronic component fixed to the frame; and a second electronic component, the second electronic component being fixed on the frame, The frame has an opening for inserting and removing the power supply unit. When the direction of inserting and removing the power supply unit relative to the frame is defined as the attachment and removal direction, The length of the power supply unit in the attachment and detachment direction is greater than the maximum dimension of the power supply unit in a direction intersecting the attachment and detachment direction. The second electronic component includes a noise filter disposed at a position adjacent to the power supply unit in a direction intersecting the attachment and detachment direction.

2. The controller according to claim 1, characterized in that The power supply unit includes a stopper that abuts against the housing in the attachment and detachment direction.

3. The controller according to claim 1 or 2, characterized in that: The housing includes a guide portion that guides the frame in the attachment and detachment direction.

4. The controller according to claim 1 or 2, characterized in that: The frame body includes a reinforcing member for reinforcing the opening.

5. The controller according to claim 1 or 2, characterized in that: A power supply cover is fixed in the frame. Plug and unplug the power supply unit on the inner side of the power supply cover, At least a portion of the first electronic component is exposed outside the frame and is covered by the power supply cover.

6. The controller according to claim 5, characterized in that The power supply cover is provided with a relay connector to be connected to the power supply unit.

7. The controller according to claim 5, characterized in that At least a portion of the second electronic component is fixed on the power supply cover.

8. The controller according to claim 1 or 2, characterized in that: The frame includes: an interface panel provided with the external power connector; and a back panel facing the interface panel. The opening is provided on the back panel. An input terminal is arranged at a front end of the power supply unit on the interface panel side, and the input terminal is connected to the external power supply connector via the second electronic component.

9. The controller according to claim 8, characterized in that The frame body includes a bottom plate intersecting with the back plate. The power supply unit has an output terminal, The output terminal is arranged at an end portion of the frame on the opposite side from the bottom plate.

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