controller

Abstract

This mechanism suppresses the generation of metal wear particles caused by external vibrations and shocks around the drive circuit board, thereby preventing controller failure due to wear particles. [Solution] The controller includes a first heat dissipation member 9A fixed to a drive circuit board 7 on which a heat-generating element and a first connector 11 are arranged, a control circuit board that includes a second connector 12 that mates with the first connector 11 in a first direction Z and intersects with the drive circuit board 7, and a board holder 8 that supports the drive circuit board 7. The board holder 8 includes a pair of second frames 82A and 82B that extend parallel to a third direction Y on both sides of the drive circuit board 7 in a second direction X. The first heat dissipation member 9A includes a planar portion 90A that faces the drive circuit board 7 and the heat-generating element in the third direction Y, and a pair of mounting portions 92 and 93 that protrude to both sides of the drive circuit board 7 in a second direction X and are fixed to the second frames 82A and 82B.

Description

Technical Field

[0001] The present invention relates to a controller.

Background Art

[0002] Patent Document 1 describes a controller for controlling a robot, which includes a control circuit board and a plurality of drive circuit boards connected to the control circuit board. The control circuit board is arranged in a posture along the bottom surface of the housing. The plurality of drive circuit boards are arranged in a posture perpendicular to the control circuit board, and a connector attached to the lower end of the drive circuit board is inserted into and connected to a connector arranged on the surface of the control circuit board. A power module with a large amount of heat generation is arranged on the board surface of each drive circuit board, and a metal heat sink is attached so as to cover the power module.

[0003] The controller of Patent Document 1 includes a board holder that holds the plurality of drive circuit boards in a posture perpendicular to the control circuit board. The board holder includes a slider having a groove extending vertically and a metal frame to which the slider is fixed. Both end portions in the width direction of each drive circuit board are inserted into a pair of sliders attached at opposing positions.

[0004] The board holder includes a receiving portion that receives the lower end portion of the drive circuit board inserted into the groove of the slider. The drive circuit board that abuts against the receiving portion of the board holder from above is pressed from above by a leaf spring (conductive member) attached so as to pass over a heat dissipation member. Both ends of the leaf spring are fixed to the metal frame.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Patent Document 1 describes how the elasticity of a leaf spring mounted across the heat dissipation member prevents the drive circuit board from floating. However, when the controller is transported, if it is subjected to external vibration or shock, the leaf spring will elastically deform, causing wear at the contact points between the heat dissipation member and the leaf spring, and between the heat dissipation member and the metal frame of the board holder, raising concerns about the generation of metal wear particles. If these metal wear particles scatter around circuit boards such as the drive circuit board and control circuit board, it could cause short circuits or clogging of holes in these boards, potentially leading to controller failure.

[0007] In view of the above problems, the object of the present invention is to suppress the generation of metal wear particles caused by external vibrations and shocks around the drive circuit board, and to suppress controller failure due to wear particles. [Means for solving the problem]

[0008] To solve the above problems, the present invention provides a controller comprising: a first substrate on which a heating element and a first connector are arranged; a heat dissipation member fixed to the first substrate; a second substrate having a second connector that fits with the first connector in a first direction along the plane direction of the first substrate and intersects with the first substrate; a substrate holder that supports the first substrate; and a support member that supports the second substrate and the substrate holder, wherein the direction intersecting the first direction and along the plane direction is defined as the second direction, and the direction intersecting the first direction and intersecting the second direction When the direction is the third direction, the substrate holder is provided with a pair of support frames extending parallel to the third direction on both sides of the first substrate in the second direction, and the heat dissipation member is provided with a planar portion facing the first substrate and the heat generating element in the third direction, and a pair of mounting portions protruding from both sides of the first substrate in the second direction and fixed to the pair of support frames. [Brief explanation of the drawing]

[0009] [Figure 1]Figure 1 is a schematic plan view showing the arrangement of the circuit board unit and control circuit board within the controller housing, and a plan view of the circuit board unit. [Figure 2] Figure 2 is a partial cross-sectional view showing the arrangement of the circuit board unit and control circuit board within the controller housing. [Figure 3] Figure 3 is a perspective view of the circuit board unit. [Figure 4] Figure 4 is a cross-sectional view of the substrate unit shown in Figure 3, cut in the YZ plane. [Figure 5] Figure 5 is a cross-sectional view of the substrate unit shown in Figure 3, cut in the XZ plane. [Figure 6] Figure 6 is an exploded perspective view of the substrate holder, drive circuit board, and first heat dissipation member. [Figure 7] Figure 7 is an exploded perspective view of the substrate holder, drive circuit board, and second heat dissipation member. [Figure 8] Figure 8 is an explanatory diagram showing the fixing structure of the heat dissipation members to a pair of second frames. [Modes for carrying out the invention]

[0010] The following describes an embodiment of a controller to which the present invention is applied, with reference to the drawings. Controller 1 is a device that supplies power to a robot equipped with actuators such as motors. Figure 1 is a schematic plan view showing the arrangement of the circuit board unit 5 and the control circuit board 4 within the housing 2 of controller 1, and a plan view of the circuit board unit 5. Figure 2 is a partial cross-sectional view showing the arrangement of the circuit board unit 5 and the control circuit board 4 within the housing 2 of controller 1, and is a partial cross-sectional view taken at position AA in Figure 1.

[0011] In this specification, the three directions, the first direction Z, the second direction X, and the third direction Y, are mutually orthogonal. For convenience, in this specification, the first direction Z is defined as the vertical direction of the controller 1. One side of the first direction Z is designated as the Z1 direction, and the other side is designated as the Z2 direction. The Z1 direction is upward, and the Z2 direction is downward. The second direction X is the front-to-back direction of the controller 1. One side of the second direction X is designated as the X1 direction, and the other side is designated as the X2 direction. The X1 direction is forward, and the X2 direction is backward. The third direction Y is the width direction of the controller 1. Note that in actual use of the controller 1, the first direction Z does not necessarily have to coincide with the vertical direction.

[0012] (Overall structure) As shown in the upper part of Figure 1 and in Figure 2, the controller 1 comprises a metal housing 2 and a control circuit board 4 and a board unit 5 located inside the housing 2. In the upper part of Figure 1 and in Figure 2, components of the internal structure of the controller 1 other than those mentioned above are omitted from the illustration. The housing 2 is a rectangular parallelepiped and comprises a front plate 2a facing the X1 direction and a rear plate 2b facing the X2 direction, a side plate 2c facing the Y1 direction and a side plate 2d facing the Y2 direction, a bottom plate 2e facing the Z2 direction and a top plate 2f facing the Z1 direction.

[0013] Figure 3 is a perspective view of the substrate unit 5. As shown in the lower part of Figure 1 and in Figure 3, the substrate unit 5 comprises a drive circuit board 7, a substrate holder 8, and a heat dissipation member 9. The substrate unit 5 is constructed by fixing the heat dissipation member 9 to each of the multiple drive circuit boards 7 and assembling them to the substrate holder 8. As will be described later, in this embodiment, the heat dissipation member 9 is attached to the substrate holder 8. It is fixed in place. Therefore, the drive circuit board 7 is fixed to the board holder 8 via the heat dissipation member 9. The controller 1 supplies power to multiple actuators. The drive circuit board 7 is a board that supplies power to the actuators. The number of drive circuit boards 7 corresponds to the number of actuators to which power is supplied. The board unit 5 in this embodiment comprises eight drive circuit boards 7.

[0014] As shown in FIG. 2, the control circuit board 4 is arranged at the bottom of the housing 2. The control circuit board 4 is in a posture parallel to the XY plane and is arranged parallel to the bottom plate 2e. The housing 2 includes a threaded sleeve 2g protruding from the bottom plate 2e toward the Z1 side, and the control circuit board 4 is screwed to the tip of the threaded sleeve 2g. The control circuit board 4 supplies control signals such as PWM signals to the drive circuit board 7. The control circuit board 4 is connected to the drive circuit board 7 via a connector.

[0015] The substrate unit 5 is arranged at a position overlapping the control circuit board 4 vertically. The drive circuit boards 7 are arranged at regular intervals in the third direction Y in a posture parallel to the XZ plane in the Z1 direction (upward) of the control circuit board 4. A fan (not shown) is attached to the back plate 2b of the housing 2 at a position facing the substrate unit 5 in the X direction. Therefore, when the fan is driven, air is blown into the gaps of the drive circuit boards 7. Thereby, the drive circuit boards 7 and the heat dissipation member 9 fixed to the drive circuit boards 7 are cooled.

[0016] As shown in FIG. 2, the housing 2 includes threaded sleeves 2h protruding from the bottom plate 2e on both sides of the control circuit board 4 in the second direction X, and the substrate holder 8 is screwed to the tips of the threaded sleeves 2h. Therefore, the control circuit board 4 and the substrate holder 8 are supported by the bottom plate 2e of the housing 2. The bottom plate 2e is a support member that supports the substrate holder 8 and the control circuit board 4.

[0017] The electronic elements mounted on the drive circuit board 7 include a heat generating element 10. The heat generating element 10 is, for example, a power module such as an IGBT module. The heat dissipation member 9 is attached at a position facing the heat generating element 10.

[0018] (Heat dissipation member) FIG. 4 is a cross-sectional view of the substrate unit of FIG. 3 cut along the YZ plane (a cross-sectional view cut at the B-B position in FIG. 3). FIG. 5 is a cross-sectional view of the substrate unit of FIG. 3 cut along the XZ plane (a cross-sectional view cut at the C-C position in FIG. 3). As shown in FIG. 4, in this embodiment, as the heat radiating member 9, there are two types: a first heat radiating member 9A fixed to the first to fifth and seventh of the eight drive circuit boards 7 counted from the Y1 side, and a second heat radiating member 9B fixed to the sixth and eighth of the eight drive circuit boards 7 counted from the Y1 side. The first heat radiating member 9A and the second heat radiating member 9B are made of a metal such as aluminum, for example.

[0019] FIG. 6 is an exploded perspective view of the substrate holder 8, the drive circuit board 7, and the first heat radiating member 9A. As shown in FIGS. 4 and 6, the first heat radiating member 9A includes a flat surface portion 90A facing the heat generating element 10 and the drive circuit board 7 from the Y1 side, and a bent portion 91A bent from the edge on the Z1 side of the flat surface portion 90A toward the Y1 side (opposite side to the heat generating element 10). As shown in FIG. 6, the bent portion 91A extends linearly in the Y direction.

[0020] In the first heat radiating member 9A, a pair of attachment portions 92, 93 for fixing the first heat radiating member 9A to the substrate holder 8 are provided at both ends of the bent portion 91A in the second direction. When the first heat radiating member 9A is fixed to the drive circuit board 7, the pair of attachment portions 92, 93 protrude to both sides in the second direction X of the drive circuit board 7.

[0021] FIG. 7 is an exploded perspective view of the substrate holder 8, the drive circuit board 7, and the second heat radiating member 9B As shown in Figures 4 and 7, the second heat dissipation member 9B consists of two members: a first member 94 and a second member 95. The first member 94 has a flat portion 90B facing the heat generating element 10 and the drive circuit board 7 from the Y1 side, and fins 91B protruding from the flat portion 90B in the Y1 direction (opposite side from the heat generating element 10). The first member 94 has five fins 91B. As shown in Figure 7, the second member 95 is a plate-shaped member extending linearly in the second direction X. The second member 95 is fixed to the fins 91B of the first member 94 by screws 19. The second member 95 is fixed to the fins 91B located at the Z1 side end of the flat portion 90B. As shown in Figures 3, 4, 7, and 8, the second member 95 may be fixed to the lower side (Z2 side) of the fins 91B located at the Z1 side end, or it may be fixed to the upper side (Z1 side) of the fins 91B.

[0022] In the second heat dissipation member 9B, a pair of mounting portions 96 and 97 are provided at both ends of the second member 95 in the second direction X for fixing the second heat dissipation member 9B to the substrate holder 8. The pair of mounting portions 96 and 97 protrude from both sides of the fin 91B in the second direction X. When the second heat dissipation member 9B is fixed to the drive circuit board 7, the pair of mounting portions 96 and 97 protrude from both sides of the drive circuit board 7 in the second direction X.

[0023] The heat-generating element 10 mounted on the drive circuit board 7 is either a heat-generating element 10A (see Figure 6) that controls the power supplied to the motor for normal power use, or a heat-generating element 10B (see Figure 7) that controls the power supplied to the motor for high power use. Of the eight drive circuit boards 7, six drive circuit boards 7 are equipped with the heat-generating element 10A. The other two drive circuit boards 7 are equipped with the heat-generating element 10B. The six drive circuit boards 7 equipped with the heat-generating element 10A have a first heat-dissipating member 9A with a bent portion 91A fixed to them. The two drive circuit boards 7 equipped with the heat-generating element 10B have a second heat-dissipating member 9B with multiple fins 91B fixed to them.

[0024] As shown in Figures 6 and 7, the first heat dissipation member 9A and the second heat dissipation member 9B are each fixed to the drive circuit board 7 via spacers 15 with screw holes. As shown in Figure 4, the heating element 10A is in contact with the flat portion 90A of the first heat dissipation member 9A, or faces the flat portion 90A with a small gap between them. The heating element 10B is in contact with the flat portion 90B of the second heat dissipation member 9B, or faces the flat portion 90B with a small gap between them.

[0025] (connector) As shown in Figures 2 and 5, a first connector 11 is located on the Z2-side edge 70 of the drive circuit board 7. As shown in Figure 2, the first connector 11 mates with the second connector 12 located on the control circuit board 4 in the first direction Z. Additionally, a third connector 13 is located on the X1 side of the first connector 11 on the edge 70 of the drive circuit board 7. The third connector 13 mates with the fourth connector 14 located on the control circuit board 4 in the first direction Z. For example, the third connector 13 and the fourth connector 14 are power supply connectors, while the first connector 11 and the second connector 12 are communication connectors.

[0026] On the control circuit board 4, second connectors 12 are arranged at regular intervals in the third direction, and on the X1 side of the second connectors 12, fourth connectors 14 are arranged at regular intervals in the third direction. The spacing between the eight drive circuit boards 7 is the same as the spacing between the second connectors 12 and the fourth connectors 14. As shown in Figures 6 and 7, a slider 80, which has a groove 80a into which the end of the drive circuit board 7 is inserted, is fixed to the board holder 8. Therefore, after fixing the board holder 8 to the bottom plate 2e, when the drive circuit board 7 is inserted into the groove 80a of the slider 80 from the Z1 side, the drive circuit board 7 is inserted in a direction perpendicular to the control circuit board 4. As a result, the first connector 11 is mated with the second connector 12, and the third connector 13 is mated with the fourth connector 14.

[0027] As shown in Figure 5, the Z2 side edge 70 of the drive circuit board 7 is where the first connector 11 is located. The connector comprises a first portion 71 and a second portion 72 that protrudes further toward the Z2 side (i.e., toward the side where the control circuit board 4 is located) than the first portion 71. The shape of the second portion 72 is provided to prevent overinsertion of the connector. When the drive circuit board 7 is inserted perpendicularly to the control circuit board 4 and the first connector 11 is mated with the second connector 12, the protrusion dimension of the second portion 72 toward the Z2 side is set such that the second portion 72 contacts the control circuit board 4 before the first connector 11 is inserted beyond a specified distance into the second connector 12.

[0028] In this embodiment, in addition to the second portion 72 (over-insertion prevention shape) of the drive circuit board 7, the board holder 8 is also provided with a structure to prevent over-insertion of the connector. As will be described later, when the drive circuit board 7 is inserted into the board holder 8, the heat dissipation member 9 fixed to the drive circuit board 7 contacts the board holder 8 from the Z1 side before the second portion 72 contacts the control circuit board 4, thereby restricting further insertion. Therefore, as shown in the partially enlarged view of Figure 2, a predetermined gap is formed between the tip of the second portion 72 and the control circuit board 4.

[0029] (Circuit board holder) As shown in Figures 3, 6, and 7, the substrate holder 8 is constructed by assembling multiple metal frames into a frame shape. Specifically, the substrate holder 8 comprises a pair of first frames 81 extending parallel to the third direction Y, and a pair of second frames 82 extending parallel to the third direction Y on the Z1 side (upper side) of the first frames 81. The substrate holder 8 also comprises a third frame 83 extending in the first direction Z, connected to the ends of the first frame 81 and second frame 82 on the X1 side, and a fourth frame 84 extending in the first direction Z, connected to the ends of the first frame 81 and second frame 82 on the X2 side. The third frame 83 and the fourth frame 84 are positioned at both ends of the first frame 81 and second frame 82 in the third direction Y, respectively. The ends of the two third frames 83 and the two fourth frames 84 are each fixed to the bottom plate 2e of the housing 2 in the Z2 direction.

[0030] Furthermore, the substrate holder 8 includes a fifth frame 85 fixed to the third frame 83 and fourth frame 84 on the Y1 side, and a sixth frame 86 fixed to the third frame 83 and fourth frame 84 on the Y2 side. The fifth frame 85 and the sixth frame 86 are connecting frames that connect a pair of first frames 81 via the third frame 83 and fourth frame 84, and a pair of second frames 82 via the third frame 83 and fourth frame 84.

[0031] As shown in Figures 3, 6, and 7, the fifth frame 85 comprises a pair of vertical frame portions extending parallel to the first direction Z, and a horizontal frame portion connecting the Z2-side ends of the pair of vertical frame portions and extending in the second direction X. The X1-side vertical frame portions are fixed to the third frame 83 at two points separated in the first direction Z. The X2-side vertical frame portions are fixed to the fourth frame 84 at two points separated in the first direction Z. This fixing structure of the fifth frame 85 enhances the rigidity of the substrate holder 8. The sixth frame 86 extends linearly in the second direction X and is fixed to the Z1-side ends of the third frame 83 and the fourth frame 84.

[0032] (Slider) As shown in Figures 6 and 7, eight pairs of sliders 80 facing each other in the second direction X are fixed to the substrate holder 8. The eight pairs of sliders 80 are arranged at regular intervals in the third direction Y. Each slider 80 extends in the first direction Z and has a groove 80a that opens toward the center of the substrate holder 8 in the second direction X. The upper end of each slider 80 is fixed to the second frame 82 and the lower end is fixed to the first frame 81. The drive circuit board 7 is inserted into the grooves 80a of the opposing sliders 80 from the Z1 direction, with both ends in the second direction X. When the drive circuit board 7 is inserted into the grooves 80a of the sliders 80, the first connector 11 and the third connector 13 are positioned in the second direction X and the third direction Y.

[0033] (Fixing structure for heat dissipation components) Figure 8 is an explanatory diagram showing the fixing structure of the heat dissipation member 9 to a pair of second frames 82. In Figure 8, of the eight drive circuit boards 7, only one to which the first heat dissipation member 9A is fixed and one to which the second heat dissipation member 9B is fixed are shown, and the others are omitted from the illustration. As shown in Figures 3 and 8, the pair of second frames 82 extend in the third direction Y on both sides of the second direction X of each drive circuit board 7. Each drive circuit board 7 is fixed to the pair of second frames 82 via the heat dissipation member 9. Therefore, the pair of first frames 81 are support frames that support the heat dissipation member 9 and the drive circuit boards 7.

[0034] As shown in Figures 5 and 8, the second frame 82 on the X1 side and the second frame 82 on the X2 side have different shapes. Below, the second frame 82 on the X1 side will be referred to as second frame 82A, and the second frame 82 on the X2 side as second frame 82B, and the shapes of the second frames 82A and 82B, as well as the fixing structure of the heat dissipation member 9 to the second frames 82A and 82B, will be described.

[0035] The second frames 82A and 82B have an L-shaped cross-section when cut along the XZ plane. The second frame 82A includes a first plate portion 821 extending in the first direction Z, and a second plate portion 822 bent in the X1 direction from the Z2 end of the first plate portion 821. The first plate portion 821 and the second plate portion 822 extend linearly in the third direction Y with a constant width. The second frame 82B includes a third plate portion 823 extending in the first direction Z, and a fourth plate portion 824 bent in the X2 direction from the Z2 end of the third plate portion 823. The third plate portion 823 and the fourth plate portion 824 extend linearly in the third direction Y with a constant width. The slider 80 is fixed to the first plate portion 821 of the second frame 82A and the third plate portion 823 of the second frame 82B by press-fitting a pin provided on the opposite side of the groove 80a.

[0036] As shown in Figure 8, of the pair of mounting portions 92 and 93 provided at both ends of the first heat dissipation member 9A in the second direction X, the mounting portion 92 on the X1 side abuts against the second frame 82A on the X1 side from the Z1 side (upper side). As shown in Figure 5, the mounting portion 92 abuts against the Z1 direction end of the first plate portion 821. The mounting portion 92 is fixed to the second frame 82A by a first screw 16. The threaded portion provided at the tip of the shaft of the first screw 16 is passed through a hole that penetrates the mounting portion 92 and is screwed into a threaded hole formed in the second plate portion 822 of the second frame 82A. The first screw 16 is a screw designed to prevent it from falling out. Therefore, the shaft of the first screw 16 has a non-threaded portion that connects the head and the threaded portion of the first screw 16. The first screw 16 is made of a conductive metal, such as iron.

[0037] The mounting portion 93 on the X2 side of the first heat dissipation member 9A abuts against the second frame 82B on the X2 side from the Z1 side (upper side). As shown in Figure 5, the mounting portion 93 overlaps the fourth plate portion 824 from the Z1 side. The substrate holder 8 is equipped with a plate-shaped member 87 that overlaps the fourth plate portion 824 and the mounting portion 93 from the Z1 side, and the plate-shaped member 87 is fixed to the fourth plate portion 824 by a plurality of second screws 17. At this time, anti-detachment washers 18 are attached to the shafts of the second screws 17 to prevent the second screws 17 from falling out of the plate-shaped member 87. The threaded portion provided on the shaft of the second screw 17 is screwed into a threaded hole formed in the fourth plate portion 824. As shown in Figure 5, the mounting portion 93 is fixed to the second frame 82B by being sandwiched between the fourth plate portion 824 and the plate-shaped member 87. The second screw 17 and the anti-loosening washer 18 are made of a conductive metal, such as iron. The plate-shaped member 87 is made of the same metal as the second frame 82B.

[0038] As shown in Figure 8, the pair of mounting portions 96 and 97 provided at both ends of the second heat dissipation member 9B in the second direction X are fixed to the pair of second frames 82A and 82B by the same fixing structure as the mounting portions 92 and 93 of the first heat dissipation member 9A. That is, the mounting portion 96 on the X1 side of the second heat dissipation member 9B abuts against the Z1 end of the first plate portion 821 and is fixed to the second frame 82A by the first screw 16. The mounting portion 97 on the X2 side of the second heat dissipation member 9B is attached to the fourth plate portion 824 on the Z1 side. They overlap and are fixed to the second frame 82B by being sandwiched between the fourth plate portion 824 and the plate-like member 87.

[0039] As shown in Figure 8, the plate-shaped member 87 used to fix the mounting portions 93 and 97 has a flat portion 871 that overlaps the fourth plate portion 824 from the Z1 side, and bent portions 872 that bend in the Z2 direction (downward) from both edges of the flat portion 871 in the second direction X. The plate-shaped member 87 has eight notches 88 that are cut out of the bent portions 872 on the X1 side. The mounting portions 93 and 97 fit into the notches 88. This positions the mounting portions 93 and 97 in the third direction Y.

[0040] Thus, in this embodiment, the mounting portions 92 and 93 of the first heat dissipation member 9A and the mounting portions 96 and 97 of the second heat dissipation member 9B abut against the second frames 82A and 82B from the Z1 direction. As a result, the drive circuit board 7 is positioned in the first direction Z via the first heat dissipation member 9A and the second heat dissipation member 9B. In this embodiment, the drive circuit board 7 is positioned within a range that satisfies all of the following (1) to (3). (1) The first connector 11 is not insufficiently inserted into the second connector 12, nor is it over-inserted. (2) The third connector 13 is not insufficiently inserted into the fourth connector 14, nor is it over-inserted. (3) As shown in the partially enlarged view of Figure 2, a gap is formed between the tip of the second portion 72 of the drive circuit board 7 and the control circuit board 4.

[0041] (Main effects of this form) As described above, the controller 1 of this embodiment includes a drive circuit board 7 on which the heat-generating element 10 and the first connector 11 are arranged, a heat dissipation member 9 fixed to the drive circuit board 7, a control circuit board 4 which has a second connector 12 that fits with the first connector 11 in a first direction Z along the plane direction of the drive circuit board 7 and intersects with the drive circuit board 7, a board holder 8 that supports the drive circuit board 7, and a housing 2 that supports the control circuit board 4 and the board holder 8. The board holder 8 includes a pair of second frames 82A and 82B as support frames that extend parallel to the third direction Y on both sides of the drive circuit board 7 in the second direction X. The heat dissipation member 9 includes a planar portion that faces the drive circuit board 7 and the heat-generating element 10 in the third direction Y, and a pair of mounting portions that protrude to both sides of the drive circuit board 7 in the second direction X and are fixed to the second frames 82A and 82B. When the first heat dissipation member 9A is used as the heat dissipation member 9, the first heat dissipation member 9A includes a flat portion 90A and a pair of mounting portions 92 and 93. When the second heat dissipation member 9B is used as the heat dissipation member 9, the second heat dissipation member 9B includes a flat portion 90B and a pair of mounting portions 96 and 97.

[0042] Thus, in this embodiment of the controller 1, a pair of mounting parts (mounting parts 92 and 93 of the first heat dissipation member 9A, and mounting parts 96 and 97 of the second heat dissipation member 9B) protruding from both sides of the second direction X of the drive circuit board 7 are fixed to the second frames 82A and 82B which extend parallel to the third direction Y. Therefore, the heat dissipation member 9 and the drive circuit board 7 are bridged between the second frames 82A and 82B, allowing the drive circuit board 7 to be accurately positioned in the first direction Z which intersects the third direction Y and the second direction X. Consequently, the drive circuit board 7 can be accurately positioned in the mating direction of the connectors used to connect the boards (first connector 11 and second connector 12, and third connector 13 and fourth connector 14). This prevents insufficient or over-insertion of the connectors, and reduces the risk of plastic deformation or poor contact of the pins provided in the connectors. Furthermore, since the heat dissipation member 9 is directly fixed to the second frames 82A and 82B, it can be firmly fixed and will not rattle even when subjected to external vibrations or shocks, as would occur if it were held by an elastic component. Therefore, the generation of metal wear particles at the contact point between the heat dissipation member 9 and the substrate holder 8 can be suppressed, and failures caused by metal wear particles scattering onto the substrate or electrical components can be suppressed. In addition, the mounting portion is securely attached to the second frames 82A and 82B. Because of the contact, a significant amount of heat from the heat dissipation member 9 is transferred to the substrate holder 8. Therefore, a large amount of heat can be dissipated not only from the heat dissipation member 9 but also from the substrate holder 8. Thus, the heat dissipation performance of the heat generated in the drive circuit board 7 can be improved compared to when it is held by an elastic component.

[0043] In this embodiment, a pair of mounting portions 92 and 93 provided on the first heat dissipation member 9A, and mounting portions 96 and 97 provided on the second heat dissipation member 9B, abut against the second frames 82A and 82B from one side Z1 in the first direction Z. As a result, the drive circuit board 7 is positioned in a range where one connector is neither over-inserted nor under-inserted into the second connector 12. Therefore, over-insertion and under-insertion of the connector can be reliably avoided.

[0044] In this embodiment, a first screw 16, a second screw 17, and a plate-shaped member 87 are used as fixing members to secure a pair of mounting parts to the second frames 82A and 82B, and these are all made of conductive metal. Therefore, static electricity can be discharged through the fixing members. In addition, since the heat from the heat dissipation member 9 is transferred to the substrate holder 8 via the metal fixing members, a large amount of heat can be dissipated. For example, the first screw 16 and the second screw 17 can be made of iron, and the plate-shaped member 87 can be made of the same metal (iron, aluminum, etc.) as the second frames 82A and 82B and the heat dissipation member 9.

[0045] In this embodiment, the first heat dissipation member 9A comprises a flat portion 90A facing the drive circuit board 7 and the heat-generating element 10 in the third direction Y, and a bent portion 91A that bends from the edge of the flat portion 90A in the first direction Z in the third direction Y and extends linearly in the second direction X. A pair of mounting portions 92 and 93 are integrally formed at both ends of the bent portion 91A in the second direction X. By integrating the flat portion 90A and the mounting portions 92 and 93 into a single component, the first heat dissipation member 9A can be directly and firmly fixed to the substrate holder 8. This reduces friction at the contact point between the first heat dissipation member 9A and the substrate holder 8 in response to external vibrations, and also reduces positional changes at the connector mating point. Therefore, the generation of metal wear particles is suppressed, and the electrical connection of the connector can be maintained. Furthermore, the thermal connection between the first heat dissipation member 9A and the substrate holder 8 can be maintained, and heat can be dissipated from the bent portion 91A, thus improving heat dissipation performance. Furthermore, since the bent portion 91A is bent in the opposite direction from the flat portion 90A toward the drive circuit board 7, it is possible to suppress the decrease in heat dissipation caused by obstructing heat dissipation from the gap between the flat portion 90A and the drive circuit board 7.

[0046] In this embodiment, the second heat dissipation member 9B comprises a first member 94 having a flat portion 90B facing the drive circuit board 7 and the heat-generating element 10 in the third direction Y, and a fin 91B protruding from the flat portion 90B in the third direction Y and extending in the second direction X, and a second member 95 extending linearly in the second direction X and fixed to the fin 91B. The pair of mounting portions 96 and 97 are the ends of the second member 95 in the second direction X. In this way, an existing heat dissipation member (first member 94) with a fin 91B can be used. Furthermore, since the second member 95 with the pair of mounting portions 96 and 97 is fixed to the fin 91B, it can be firmly fixed to the first member 94. As a result, the first member 94 can be firmly fixed via the second member 95, which reduces friction at the contact point between the second heat dissipation member 9B and the board holder 8 against external vibrations, and also reduces positional changes at the connector mating point. Therefore, the generation of metal wear particles is suppressed, and the electrical connection of the connector can be maintained. In addition, the thermal connection between the second heat dissipation member 9B and the substrate holder 8 can be maintained, and heat can also be dissipated from the fins 91B, thus improving heat dissipation. Furthermore, since the fins 91B protrude in the opposite direction from the flat portion 90B toward the drive circuit board 7, a decrease in heat dissipation due to obstruction of heat dissipation from the gap between the flat portion 90B and the drive circuit board 7 can be suppressed.

[0047] The substrate unit 5 may also consist of only one of the drive circuit board 7 to which the first heat dissipation member 9A is fixed, or the drive circuit board 7 to which the second heat dissipation member 9B is fixed. Furthermore, the number and arrangement of the drive circuit boards 7 to which the first heat dissipation member 9A is fixed, and the number and arrangement of the drive circuit boards 7 to which the second heat dissipation member 9B is fixed, may differ from those in this embodiment.

[0048] In this embodiment, one of the pair of second frames 82 (second frame 82A) comprises a first plate portion 821 extending in a first direction Z, and a second plate portion 822 bent in a second direction X from the other end Z2 of the first plate portion 821 in the first direction Z. The mounting portion 92 of the first heat dissipation member 9A and the mounting portion 96 of the second heat dissipation member 9B abut against the edge of one side Z1 of the first plate portion 821 in the first direction Z, and are fixed to the second plate portion 822 by a first screw 16. With such a frame shape, rigidity can be ensured and weight can be reduced. In addition, a surface for mounting the slider 80 for inserting the drive circuit board 7 can be secured. Furthermore, a screw that prevents the screw from falling out can be used as the first screw 16. In this case, when fixing and disassembling the mounting portions 92 and 96, the first screw 16 can be prevented from falling into the gaps between the parts, thereby improving ease of assembly.

[0049] In this embodiment, the other of the pair of second frames 82 (second frame 82B) includes a third plate portion 823 extending in a first direction Z, and a fourth plate portion 824 bent in a second direction X from one end Z1 of the third plate portion 823 in the first direction Z. The mounting portion 93 of the first heat dissipation member 9A and the mounting portion 97 of the second heat dissipation member 9B are sandwiched between a plate-shaped member 87 that overlaps the fourth plate portion 824 from one side Z1 in the first direction Z and the fourth plate portion 824. The plate-shaped member 87 is fixed to the fourth plate portion 824 by a second screw 17. With this frame shape, rigidity can be ensured and weight can be reduced. In addition, a surface can be secured for mounting the slider 80 for inserting the drive circuit board 7. Furthermore, since the plate-shaped member 87 is used, there is no need to individually fix the mounting portions of multiple heat dissipation members 9. For example, in this embodiment, multiple drive circuit boards 7 to which the heat dissipation members 9 are fixed are arranged in the third direction Y, but by attaching one component, multiple mounting parts 93 and 97 can be fixed together. In addition, the plate-shaped member 87 is provided with notches 88 into which the mounting parts 93 and 97 fit, and the notches 88 function as positioning parts that position the mounting parts 93 and 97 in the third direction Y. Therefore, the ease of assembly of the board unit 5 can be improved, and the positional accuracy of the heat dissipation members 9 and drive circuit boards 7 in the third direction can be improved. Furthermore, by placing a fall-prevention washer 18 between the plate-shaped member 87 and the fourth plate part 824, it is possible to prevent the second screw 17 from falling into the gap between the components when fixing and disassembling the plate-shaped member 87 to the fourth plate part 824. Therefore, the ease of assembly can be further improved.

[0050] In this embodiment, the substrate unit 5 includes a pair of sliders 80 extending in the first direction Z on both sides of the drive circuit board 7 in the second direction X. The sliders 80 have grooves 80a into which the ends of the drive circuit board 7 are inserted. The substrate holder 8 includes a pair of first frames 81 extending parallel to the third direction Y at a position separated in the first direction Z from a pair of second frames 82. The sliders 80 are fixed to the pair of second frames 82 and the pair of first frames 81. By assembling the frames in a grid-like manner to form the substrate holder 8, a substrate holder 8 with a structure with many gaps is constructed. Therefore, heat can be dissipated from the gaps in the frame, thus improving heat dissipation. Furthermore, when assembling the substrate unit 5, it is only necessary to insert both ends of the drive circuit board 7 into the grooves 80a of the sliders 80 and push them in until the heat dissipation members 9 contact the frames. Therefore, the assembly of the substrate unit 5 is easy, and the positioning of the drive circuit board 7 in the first direction Z is easy.

[0051] In this embodiment, the edge 70 of the drive circuit board 7 in the first direction Z comprises a first portion 71 on which the first connector 11 is arranged, and a second portion 72 that protrudes further toward the control circuit board 4 than the first portion 71. The second portion 72 contacts the control circuit board 4 before the first connector 11 is overinserted into the second connector 12. By providing the edge 70 of the drive circuit board 7 with a shape to prevent overinsertion in this way, overinsertion of the connector can be prevented more reliably. It is possible to adopt a configuration that does not include the second part 72.

[0052] (modified version) In the above configuration, one (second frame 82A) and the other (second frame 82B) of the pair of second frames 82 have different shapes, but the positions of second frame 82A and second frame 82B may be swapped. Alternatively, both of the pair of second frames 82 may have the same shape. In this case, both of the pair of second frames 82 may have the same shape as second frame 82A in the above configuration. In this case, the mounting parts 92, 92 and mounting parts 96, 97 can all be fixed by the first screw 16. Alternatively, both of the pair of second frames 82 may have the same shape as second frame 82B in the above configuration. In this case, the mounting parts 92, 92 and mounting parts 96, 97 can all be sandwiched and fixed between the fourth plate portion 824 of the second frame 82B and the plate-shaped member 87. The plate-shaped member 87 is fixed to the fourth plate portion 824 by the second screw 17, and at that time, a fall prevention washer 18 can be attached to the shaft portion of the second screw 17.

[0053] (summary) The present invention can take the following forms. (1) A first substrate on which a heating element and a first connector are arranged, A heat dissipation member fixed to the first substrate, The second substrate comprises a second connector that mates with the first connector in a first direction along the plane direction of the first substrate, and intersects with respect to the first substrate, A substrate holder supporting the first substrate, The device comprises a support member that supports the second substrate and the substrate holder, When the direction intersecting the first direction and along the plane direction is defined as the second direction, and the direction intersecting the first direction and the second direction is defined as the third direction, The substrate holder comprises a pair of support frames extending parallel to the third direction on both sides of the first substrate in the second direction, The controller is characterized in that the heat dissipation member comprises a planar portion facing the first substrate and the heat-generating element in the third direction, and a pair of mounting portions that protrude from both sides of the first substrate in the second direction and are fixed to the pair of support frames.

[0054] (2) When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, The controller according to (1) above, characterized in that the pair of mounting portions abut against the pair of support frames from one side in the first direction, thereby positioning the first substrate in a range where the first connector is neither over-inserted nor under-inserted relative to the second connector.

[0055] (3) The controller according to (1) above, characterized in that the fixing member for fixing the pair of mounting parts to the support frame is made of a conductive metal.

[0056] (4) The heat dissipation member comprises a flat portion facing the first substrate and the heating element in the third direction, and a bent portion that bends from the edge of the flat portion in the first direction in the third direction and extends linearly in the second direction. The controller according to (1) above, characterized in that the pair of mounting portions are integrally formed at both ends of the bent portion in the second direction.

[0057] (5) The controller according to (4) above, characterized in that the bent portion is bent in the direction opposite to the direction toward the first substrate from the flat portion.

[0058] (6) The heat dissipation member is A first member comprising the first substrate and the heating element, a planar portion facing the third direction, and fins protruding from the planar portion in the third direction and extending in the second direction, The device comprises a second member that extends linearly in the second direction and is fixed to the fin, The controller according to (1) above, characterized in that the pair of mounting portions are the portions of both ends of the second member in the second direction.

[0059] (7) The controller according to (6) above, characterized in that the fin protrudes in the direction opposite to the direction toward the first substrate from the planar portion.

[0060] (8) When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, At least one of the pair of support frames comprises a first plate portion extending in the first direction and a second plate portion bent in a second direction from the other end of the first plate portion in the first direction. The controller according to (1) above, characterized in that at least one of the pair of mounting portions abuts against one edge of the first plate portion in the first direction and is fixed to the second plate portion by a first screw.

[0061] (9) The controller according to (8) above, characterized in that the first screw is a screw designed to prevent the screw from falling out.

[0062] (10) When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, At least one of the pair of support frames comprises a third plate portion extending in the first direction and a fourth plate portion bent in the second direction from one end of the third plate portion in the first direction, The other of the pair of mounting portions is sandwiched between the plate-shaped member overlapping the fourth plate portion from one side in the first direction and the fourth plate portion. The controller according to (1) above, characterized in that the plate-shaped member is fixed to the fourth plate portion by a second screw.

[0063] (11) Multiple first substrates, to which the heat dissipation members are fixed, are arranged in the third direction. The controller according to (10) above, characterized in that multiple other parts of the pair of mounting parts are sandwiched between the fourth plate portion and the plate-shaped member.

[0064] (12) The controller according to (10) above, characterized in that the plate-shaped member includes a positioning portion for positioning the other of the pair of mounting portions in the third direction.

[0065] (13) The anti-detachment washer, which is positioned between the plate-shaped member and the fourth plate portion, is attached to the second screw. The controller described in (10) above, characterized in that it is attached.

[0066] (14) The first substrate comprises a pair of sliders extending in the first direction on both sides of the second direction, the sliders having grooves into which the ends of the first substrate are inserted. The aforementioned substrate holder is The system comprises a pair of first frames that extend parallel to the third direction at positions separated from the pair of support frames in the first direction, The controller according to (1) above, characterized in that the slider is fixed to the pair of support frames and the pair of first frames.

[0067] (15) The edge of the first substrate in the first direction comprises a first portion on which the first connector is arranged and a second portion that protrudes further toward the second substrate than the first portion. The controller according to (1) above, characterized in that the second part contacts the second substrate before the first connector is overinserted into the second connector. [Explanation of Symbols]

[0068] 1...Controller, 2...Housing, 2a...Front panel, 2b...Rear panel, 2c...Side panel, 2d...Side panel, 2e...Bottom panel, 2f...Top panel, 2g...Sleeve with screw holes, 2h...Sleeve with screw holes, 4...Control circuit board, 5...Board unit, 7...Drive circuit board, 8...Board holder, 9...Heat dissipation element, 9A...First heat dissipation element, 9B...Second heat dissipation element, 10, 10A, 10B...Heating element, 11...First connector, 12...Second connector, 13...Third connector, 14...Fourth connector, 15...Spacer, 16...First screw, 17...Second screw, 18...Anti-drop washer, 19...Screw, 70...Edge, 71...First part, 72 ...Second part, 80...Slider, 80a...Groove, 81...First frame, 82...Second frame, 82A...Second frame, 82B...Second frame, 83...Third frame, 84...Fourth frame, 85...Fifth frame, 86...Sixth frame, 87...Plate-shaped member, 88...Notch, 90A, 90B...Flat section, 91A...Bent section, 91B...Fin, 92, 93...Mounting section, 94...First member, 95...Second member, 96, 97...Mounting section, 821...First plate section, 822...Second plate section, 823...Third plate section, 824...Fourth plate section, 871...Flat section, 872...Bent section, X...Second direction, Y...Third direction, Z...First direction

Claims

1. A first substrate on which a heating element and a first connector are arranged, A heat dissipation member fixed to the first substrate, The second substrate comprises a second connector that fits to the first connector in a first direction along the plane direction of the first substrate, and intersects with respect to the first substrate, A substrate holder supporting the first substrate, The device comprises a support member that supports the second substrate and the substrate holder, When the direction intersecting the first direction and along the plane direction is defined as the second direction, and the direction intersecting the first direction and the second direction is defined as the third direction, The substrate holder comprises a pair of support frames extending parallel to the third direction on both sides of the first substrate in the second direction, The controller is characterized in that the heat dissipation member comprises a planar portion facing the first substrate and the heat-generating element in the third direction, and a pair of mounting portions that protrude from both sides of the first substrate in the second direction and are fixed to the pair of support frames.

2. When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, The controller according to claim 1, characterized in that the pair of mounting portions abut against the pair of support frames from one side in the first direction, thereby positioning the first substrate in a range where the first connector is neither over-inserted nor under-inserted relative to the second connector.

3. The controller according to claim 1, characterized in that the fixing member for fixing the pair of mounting parts to the support frame is made of a conductive metal.

4. The heat dissipation member comprises a flat portion facing the first substrate and the heating element in the third direction, and a bent portion that bends from the edge of the flat portion in the first direction in the third direction and extends linearly in the second direction. The controller according to claim 1, characterized in that the pair of mounting portions are integrally formed at both ends of the bent portion in the second direction.

5. The controller according to claim 4, characterized in that the bent portion is bent in the direction opposite to the direction toward the first substrate from the flat portion.

6. The heat dissipation member is A first member comprising a planar portion facing the third direction from the first substrate and the heating element, and fins protruding from the planar portion in the third direction and extending in the second direction, The device comprises a second member that extends linearly in the second direction and is fixed to the fin, The controller according to claim 1, characterized in that the pair of mounting portions are the ends of the second member in the second direction.

7. The controller according to claim 6, characterized in that the fin protrudes in the direction opposite to the direction toward the first substrate from the planar portion.

8. When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, At least one of the pair of support frames comprises a first plate portion extending in the first direction and a second plate portion bent in a second direction from the other end of the first plate portion in the first direction. At least one of the pair of mounting portions is located on one edge of the first plate portion in the first direction. The controller according to claim 1, characterized in that it is in contact with and fixed to the second plate portion by a first screw.

9. The controller according to claim 8, characterized in that the first screw is a screw designed to prevent detachment.

10. When the side on which the first connector is located relative to the second connector is defined as one side in the first direction, At least one of the pair of support frames comprises a third plate portion extending in the first direction and a fourth plate portion bent in the second direction from one end of the third plate portion in the first direction. At least one of the pair of mounting portions is sandwiched between the plate-shaped member overlapping the fourth plate portion from one side in the first direction and the fourth plate portion. The controller according to claim 1, characterized in that the plate-shaped member is fixed to the fourth plate portion by a second screw.

11. Multiple first substrates, to which the heat dissipation members are fixed, are arranged in the third direction. The controller according to claim 10, characterized in that a plurality of the other of the pair of mounting parts are sandwiched between the fourth plate portion and the plate-shaped member.

12. The controller according to claim 10, characterized in that the plate-shaped member includes a positioning portion for positioning the other of the pair of mounting portions in the third direction.

13. The controller according to claim 10, characterized in that a fall-prevention washer, which is disposed between the plate-shaped member and the fourth plate portion, is attached to the second screw.

14. The first substrate comprises a pair of sliders extending in the first direction on both sides of the second direction, the sliders having grooves into which the ends of the first substrate are inserted. The aforementioned substrate holder is The system comprises a pair of first frames that extend parallel to the third direction at positions separated in the first direction from the pair of support frames, The controller according to claim 1, characterized in that the slider is fixed to the pair of support frames and the pair of first frames.

15. The edge of the first substrate in the first direction comprises a first portion on which the first connector is arranged and a second portion that protrudes further toward the second substrate than the first portion. The controller according to claim 1, characterized in that the second portion contacts the second substrate before the first connector is overinserted into the second connector.

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