controller

Abstract

To facilitate a work for replacing components of a power supply system arranged in a housing.SOLUTION: A controller 1 has: a housing 2 provided with an external power supply connector 70; a power supply part 14 that converts an AC current supplied from the external power supply connector 70 into a DC current; and a control circuit board 4 supplied with the DC current from the power supply part 14. The power supply part 14 comprises: a power supply unit 7 having a frame 72 that can be attached to and detached from the housing 2 and a first electronic element 71 fixed to the frame 72; and a second electronic element 15 fixed to the housing 2. The housing 2 comprises an opening 20 through which the power supply unit 7 is inserted and removed.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[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. Each drive circuit board is arranged vertically to the control circuit board. A power module and a metal heat sink are attached to each drive circuit board.

[0003] The controller of Patent Document 1 has a rectangular parallelepiped housing that houses multiple units such as a control circuit board and a drive circuit board, as well as a power supply circuit board, a communication interface board, and a drive voltage generation board. The housing is constructed by assembling a lower housing member having a right panel and a left panel connected to both ends of a bottom panel, and an upper housing member including a front panel and a top panel on which numerous I / O ports are arranged. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5803213 Summary of the Invention [Problem to be solved by the invention]

[0005] The controller in Patent Document 1 is equipped with power supply system components such as an external power connector located on the front panel, a noise filter having a filter circuit that removes noise from the AC current input from the external power connector, and a power circuit board having a DC / AC conversion circuit that converts the noise-removed AC current into DC current.

[0006] When assembling a conventional controller, power supply system components are generally larger and heavier than other components, so they are generally attached to the case first, and then other components are attached. Therefore, when replacing a power supply system component, it is not possible to replace it without first removing the other components. In addition, when replacing a power supply system component, it is necessary to disconnect the wiring connected to the power supply system component, but in order to remove the wiring routed between the components, the component through which the wiring passes must be removed. Therefore, when a problem occurs with a power supply system component, the replacement work is time-consuming.

[0007] In view of the above problems, an object of the present invention is to facilitate the replacement of power supply system components disposed within a housing. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention provides a housing provided with an external power connector, a power supply unit that converts AC current supplied from the external power connector into DC current, and a board to which DC current is supplied from the power supply unit, wherein the power supply unit comprises a power supply unit having a frame that is detachable from the housing and a first electronic element fixed to the frame, and a second electronic element fixed to the housing, and the housing has an opening through which the power supply unit is inserted and removed.

[0009] According to the present invention, a power supply unit is formed by mounting a part of the electronic element (first electronic element) that constitutes the power supply section on a frame, and an opening through which the power supply unit can be inserted and removed is provided in the housing. Therefore, the power supply unit can be easily removed from the housing without removing parts other than the power supply unit from the housing. Therefore, when a malfunction occurs in the first electronic element, it can be easily replaced. Also, since the electronic elements constituting the power supply unit are selected and some electronic elements (second electronic elements) are fixed to the housing without being mounted on the power supply unit, the power supply unit can be made smaller and the opening of the housing for attaching and detaching the power supply unit can be made smaller. Therefore, the rigidity of the housing can be prevented from decreasing, and deformation of the housing can be prevented.

[0010] In the present invention, when the direction in which the power supply unit is inserted into and removed from the housing is defined as the attachment / detachment direction, it is preferable that the length of the power supply unit in the attachment / detachment direction is greater than the maximum dimension of the power supply unit in a direction intersecting the attachment / detachment direction. In this way, the opening of the housing can be made smaller. Therefore, the rigidity of the housing can be prevented from decreasing, and deformation of the housing can be prevented.

[0011] In the present invention, it is preferable that the power supply unit has a stopper that abuts against the housing in the mounting / removal direction. In this way, the power supply unit can be easily positioned. Also, since the power supply unit can be prevented from being inserted deeper than the fixed position, it is possible to avoid problems caused by collisions with other components when the power supply unit is attached.

[0012] In the present invention, it is preferable that the housing includes a guide portion for guiding the frame in the mounting / removal direction. In this way, the power supply unit can be mounted in the correct position. Also, it is possible to prevent malfunctions caused by collisions with other components when the power supply unit is mounted.

[0013] In the present invention, the second electronic element may include a noise filter disposed adjacent to the power supply unit in a direction intersecting the attachment / detachment direction, thereby shortening the path of the wiring connecting the power supply unit and the noise filter.

[0014] In the present invention, the housing preferably includes a reinforcing member for reinforcing the opening, which can suppress a decrease in rigidity of the housing due to the provision of the opening, and can suppress deformation of the housing.

[0015] In the present invention, it is preferable that the power supply unit has a power supply cover fixed inside the housing, the power supply unit is inserted and removed inside the power supply cover, and the first electronic element is at least partially exposed to the outside of the frame and covered by the power supply cover. In this way, space can be secured outside the power supply cover to install other components, so that the space inside the housing can be used effectively. In addition, the frame constituting the power supply unit can be shaped so as not to overlap with the power supply cover, so that the frame of the power supply unit in that portion can be omitted, and the power supply unit can be made smaller. Therefore, the power supply unit can be made smaller and lighter.

[0016] In the present invention, it is preferable that a relay connector to which the power supply unit is connected is disposed on the power supply cover. In this way, a configuration is possible in which a direct current output from the power supply unit is supplied to a board via the relay connector. Therefore, when disconnecting the wiring to attach or detach the power supply unit, the work can be performed on the relay connector, and there is no need to pull out the wiring hidden by other components. This makes it easy to disconnect the wiring of the power supply unit and to connect the wiring of the power supply unit.

[0017] In the present invention, it is preferable that at least a part of the second electronic element is fixed to the power supply cover. In this way, the space for installing the second electronic element near the power supply unit is reduced. This allows for the securement of a supply of

[0018] In the present invention, it is preferable that the housing includes an interface panel on which the external power connector is provided and a back plate facing the interface panel, the opening is provided in the back plate, and an input terminal connected to the external power connector via the second electronic element is disposed at the tip of the power supply unit on the interface panel side. In this way, the input terminal can be disposed near the external power connector, thereby shortening the wiring path and facilitating wiring work.

[0019] In the present invention, it is preferable that the housing has a bottom plate intersecting with the back plate, the power supply unit has an output terminal, and the output terminal is disposed at the end of the frame opposite the bottom plate. In this way, when the top plate of the housing is removed, the output terminal is in a position that is easy to access and not hidden by other components. Therefore, it is easy to work on the output terminal, and there is no need to pull out wiring hidden by other components. Therefore, it is easy to disconnect wiring from the power supply unit and to connect wiring to the power supply unit. Effect of the Invention

[0020] According to the present invention, a power supply unit is formed by mounting some of the electronic elements (first electronic elements) constituting the power supply unit on a frame, and an opening through which the power supply unit can be inserted and removed is provided in the housing. Therefore, the power supply unit can be easily removed from the housing without removing parts other than the power supply unit from the housing. Therefore, when a malfunction occurs in the first electronic element, it can be easily replaced. In addition, since the electronic elements constituting the power supply unit are selected and some of the electronic elements (second electronic elements) are fixed to the housing without being mounted on the power supply unit, the power supply unit can be made smaller and the opening of the housing for attaching and detaching the power supply unit can be made smaller. Therefore, it is possible to suppress a decrease in the rigidity of the housing and suppress deformation of the housing. [Brief description of the drawings]

[0021] [Figure 1] 1 is an external perspective view of a controller to which the present invention is applied; [Diagram 2] 2 is a perspective view showing a state in which the power supply unit has been removed from the controller housing. FIG. [Diagram 3] 2 is a plan view showing the internal structure of a housing in which a power supply unit is mounted. FIG. [Figure 4] FIG. 2 is an exploded perspective view showing the internal structure of a housing in which a power supply unit is mounted. [Diagram 5] FIG. 2 is an exploded perspective view showing the internal structure of the housing with the power supply unit removed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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) equipped with an actuator such as a motor.

[0023] FIG. 1 is an external perspective view of a controller 1 to which the present invention is applied. FIG. 2 is an oblique view showing a state in which the power supply unit 7 is removed from the housing 2 of the controller 1. FIG. 3 is a plan view showing the internal structure of the housing 2 to which the power supply unit 7 is attached, and is a plan view seen from the Z2 side with the second case 22 removed from the housing 2. FIG. 4 is an exploded perspective view showing the internal structure of the housing 2 to which the power supply unit 7 is attached, and is an exploded perspective view showing a state in which the second case 22 is removed from the housing 2 and the second interface panel 24 is removed from the housing frame 25 to the X1 side. FIG. 5 is an exploded perspective view showing the internal structure of the housing 2 to which the power supply unit 7 is removed, and is an exploded perspective view showing a state in which the second case 22 is removed from the housing 2 and the power supply unit 7 is removed from the X2 side and the second interface panel 24 is removed from the housing frame 25 to the X1 side.

[0024] In this specification, the three directions X, Y and Z are mutually orthogonal. Generally, the first direction Z is the up-down direction of the controller 1. The Z1 direction is downward, and the Z2 direction is upward. The second direction X is the front-to-rear direction of the controller 1. The X1 direction is forward, and the X2 direction is backward. The third direction Y is the width direction of the controller 1. The Y1 and Y2 directions are one side and the other side of the third direction Y. Note that, in the actual manner in which the controller 1 is used, the first direction Z does not have to coincide with the up-down direction (vertical direction).

[0025] (Overall composition) 1 to 5, the controller 1 includes a metal housing 2. The housing 2 is a rectangular parallelepiped, and includes a front plate 2a facing the X1 direction, a back plate 2b facing the X2 direction, a first side plate 2c facing the Y1 direction, a second side plate 2d facing the Y2 direction, a bottom plate 2e facing the Z1 direction, and a top plate 2f facing the Z2 direction. In this embodiment, the members constituting the housing 2 include a first case 21 including the bottom plate 2e, the first side plate 2c, and the back plate 2b, a second case 22 including the top plate 2f and the second side plate 2d, a first interface panel 23 and a second interface panel 24 constituting the front plate 2a, and a housing frame 25.

[0026] 2 and 4, the housing frame 25 includes a rectangular front frame 26 to which the front plate 2a is fixed, a rectangular rear frame 27 to which the rear plate 2b is fixed, and a rectangular side frame 28 to which the second side plate 2d is fixed. The side frame 28 has an X1 side end fixed to the front frame 26 and an X2 side end fixed to the Y2 side edge of the rear plate 2b. As shown in FIGS. 4 and 5, a grounding member 29 for grounding the housing 2 is disposed on the inside (X2 side) of the Z1 side end of the second interface panel 24.

[0027] 3, the controller 1 includes a communication board unit 3, a control circuit board 4, a drive circuit board unit 5, a drive power supply circuit board unit 6, and a power supply unit 7, which are arranged inside the housing 2. The controller 1 also includes two fans 8 attached side by side in the third direction Y inside the housing 2, and a reinforcing member 9 that spans the Z2 side of the drive power supply circuit board unit 6 in the third direction Y and supports the top plate 2f from the bottom plate 2e side (Z1 side). The reinforcing member 9 is a beam member that spans between the power supply cover 10 fixed to the housing 2 and the side frame 28.

[0028] 3, the communication board unit 3 is disposed on the rear side (X2 side) of the first interface panel 23. The communication board unit 3 is a unit in which two communication boards and a board fixing panel are stacked in the first direction Z via a spacer. A plurality of external connection connectors 34 mounted on the communication board unit 3 are each disposed in a hole provided in the first interface panel 23 (see FIG. 1).

[0029] A drive power supply circuit board unit 6 and a drive circuit board unit 5 are arranged in this order on the rear side (X2 side) of the communication board unit 3. The drive power supply circuit board unit 6 is a unit in which two drive power supply circuit boards and a support plate are stacked in the first direction Z with a spacer between them, and is fixed to the bottom plate 2e. Electronic elements such as capacitors are mounted on the drive power supply circuit boards.

[0030] The power supply unit 7 is disposed at the Y1-direction end of the housing 2. The power supply unit 7 is a long and thin unit extending from the rear plate 2b to the rear side of an external power supply connector 70 disposed at the Y1-side end of the second interface panel 24. A midway portion of the power supply unit 7 in the second direction X is disposed inside a power supply cover 10 fixed to the housing 2. As will be described later, the power supply unit 7 includes a first electronic element 71 that constitutes a DC-AC conversion circuit.

[0031] As shown in FIG. 4, the fuse 11 connected to the external power connector 70 is disposed on the Z2 side of the power supply cover 10. The fuse 11 is disposed adjacent to the power supply cover 10 in the Y2 direction. The noise filter 12 is provided with a filter circuit for removing noise superimposed on the AC current supplied from the external power connector 70 via the fuse 11. As shown in Fig. 4, the noise filter 12 is fixed to the bottom plate 2e via a bracket 13 made of sheet metal.

[0032] The power supply unit 7 converts the AC current distributed from the noise filter 12 into a DC current of 5 V and a DC current of 24 V, and supplies them to the control circuit board 4 (see FIG. 3) fixed to the bottom plate 2e of the housing 2. The DC current of 24 V is supplied to the fan 8 via the control circuit board 4. The power supply unit 7 also converts the AC current into a DC current of 15 V, and supplies it to the drive power supply circuit board unit 6. The drive power supply circuit board unit 6 converts the AC current distributed from the noise filter 12 into a drive current (DC current) of a different voltage from the supply voltage from the power supply unit 7, and supplies it to the drive circuit board unit 5.

[0033] The drive circuit board unit 5 is connected to an external output connector 59 provided on the second interface panel 24. When a connector on the manipulator side is connected to the external output connector 59, a drive current output from the drive circuit board unit 5 is supplied to the manipulator.

[0034] The drive circuit board unit 5 includes a plurality of drive circuit boards and a board holder that holds the plurality of drive circuit boards in a position parallel to the XZ plane. The board holder is fixed to the bottom plate 2e of the housing 2. A power module such as an IGBT module is mounted on each drive circuit board, and a heat dissipation member is fixed to each drive circuit board. The drive circuit board unit 5 faces two fans 8 attached to the rear plate 2b of the housing 2 in the second direction X. Therefore, when the fans 8 are driven, cooling air is blown into the gaps between the drive circuit boards.

[0035] The control circuit board 4 is disposed parallel to the bottom plate 2e at the bottom of the housing 2. A drive circuit board is disposed above the control circuit board 4 (in the Z2 direction) in an orientation perpendicular to the control circuit board 4. The drive circuit board is connected to the control circuit board 4 via a connector that fits in the first direction Z.

[0036] (Power supply section) The controller 1 includes a power supply unit 14 that converts AC current supplied from an external power connector 70 into DC current and supplies the DC current to the control circuit board 4 and the drive power circuit board unit 6. As shown in FIGS. 3, 4 and 5, the power supply unit 14 includes a power supply unit 7 that is detachable from the housing 2, and a second electronic element 15 that is fixed to the housing 2. In this embodiment, the second electronic element 15 includes a fuse 11 and a noise filter 12.

[0037] As shown in Figs. 2 and 5, the power supply unit 7 can be removed in the X2 direction from an opening 20 provided at the end portion of the rear panel 2b on the Y1 side. Therefore, the second direction X is the direction in which the power supply unit 7 is attached to and detached from the housing 2. The length of the external shape of the power supply unit 7 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 Figs. 2 and 5). Therefore, in this embodiment, the direction in which the projected area of ​​the power supply unit 7 is smallest is the direction in which the power supply unit 7 is attached to and detached from the housing 2. The opening 20 in the housing 2 has a size corresponding to the projected area of ​​the power supply unit 7 in the attachment / detachment direction.

[0038] The power supply unit 7 includes a cylindrical frame 72 extending in the second direction X, a fan cover 73 fixed to the X2-side end of the frame 72, and a fan 74 (see FIG. 2) arranged inside (X1 side) of the fan cover 73. The power supply unit 7 also includes an input terminal 75 arranged at the X1-side end of the frame 72, and an output terminal 76 arranged on the Y2-side side of the frame 72. A first electronic element 71 constituting a DC-AC conversion circuit that converts AC current distributed from the noise filter 12 into DC current is arranged on the X2 side of the input terminal 75.

[0039] 2, the rear frame 27 of the housing 2 includes a first reinforcing frame 31 extending linearly in the third direction Y along the edge of the opening 20 on the Z2 side, and a second reinforcing frame 32 extending linearly in the first direction Z along the edge of the opening 20 on the Y2 side. The first reinforcing frame 31 and the second reinforcing frame 32 are reinforcing members that reinforce the opening 20. The power supply unit 7 is fixed to the housing 2 by abutting the outer peripheral edge of the fan cover 73 against the first reinforcing frame 31 and the second reinforcing frame 32 from the X2 side and screwing them in place. That is, the outer peripheral edge of the fan cover 73 functions as a stopper that abuts against the housing 2 in the second direction X (i.e., the direction in which the power supply unit 7 is attached and detached).

[0040] As shown in FIG. 5, the frame 72 includes a frame top 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 top plate 72a and the frame bottom plate 72b, and the frame side plate 72d connects the Y2-direction edges of the frame top plate 72a and the frame bottom plate 72b. The frame side plate 72d on the Y2 side is provided with a hole for attaching and detaching a connector to the output terminal 76 (see FIG. 3). The frame bottom plate 72b and the frame side plate 72c extend from the back plate 2b to the second interface panel 24, but the frame top plate 72a and the frame side plate 72d have a length up to the X2 side of the power supply cover 10 (see FIG. 4). Therefore, a part of the first electronic element 71 arranged on the frame bottom plate 72b is exposed from the frame 72 and is covered by the power supply cover 10.

[0041] 4 and 5, the power supply cover 10 includes an upper cover plate 10a parallel to the XY plane, and a side cover plate 10b bent from the Y2-side edge of the upper cover plate 10a to the Z1 side. The power supply cover 10 is fixed to the housing 2 by fixing an attachment plate portion (not shown) provided on the Y1-side edge of the upper cover plate 10a to the first side plate 2c, and fixing an attachment plate portion (not shown) provided on the Z1-side edge of the side cover plate 10b to the bottom plate 2e.

[0042] Two fuses 11 are fixed to the cover upper plate 10a. Furthermore, a plurality of relay connectors 16 are fixed to the cover side plate 10b. Some of the relay connectors 16 are disposed at the end of the cover side plate 10b on the Z2 side. Wiring (not shown) of 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 each of the plurality of relay connectors 16.

[0043] 4 and 5, 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 supply circuit board unit 6. The AC current output from the noise filter 12 is also distributed to the power supply unit 7 from the output terminal 12c.

[0044] 3 and 4, the input terminal 75 of the power supply unit 7 is disposed at the tip of the frame 72 in the X1 direction. Therefore, the input terminal 75 is disposed at a position adjacent to the output terminals 12a, 12b, and 12c disposed at the end of the noise filter 12 on the X1 side, and the wiring path connecting the output terminal 12c and the input terminal 75 is short. An external power connector 70 attached to the second interface panel 24 is disposed on the Z2 side of the input terminal 75. The external power connector 70 faces the fuse 11 disposed on the surface of the power supply cover 10 on the Z2 side in the second direction X.

[0045] (How to install and remove the power supply unit) When removing the power supply unit 7 from the housing 2, first remove the second case 22 from the housing 2. This allows access to the relay connector 16. The wiring connected to the power supply unit 7 is removed from the fan cover 73. The input terminal 75 and the output terminal 76 are also accessible, so the wiring is also removed from the input terminal 75 and the output terminal 76. In this embodiment, a part of the relay connector 16 is disposed at the end of the power supply cover 10 on the Z2 side, and the output terminal 76 is disposed at the end of the frame side plate 72d on the Z2 side, so that it is not hidden by other components when the second case 22 is removed, and is easy to access. Therefore, the work of removing and connecting the wiring is easy. Next, the screws that fix the fan cover 73 to the rear frame 27 are removed, and the power supply unit 7 is pulled out of the housing 2 in the X2 direction.

[0046] In this embodiment, as shown in Figures 3 and 4, a regenerative circuit module 77 is fixed to the frame upper plate 72a of the power supply unit 7, so the regenerative circuit module 77 is removed from the frame upper plate 72a before removing the power supply unit 7 from the housing.

[0047] Next, when mounting the power supply unit 7 in the housing 2, the front end of the frame 72 in the X1 direction is inserted into the opening 20. Then, the frame 72 is inserted inside the power supply cover 10 while the frame bottom plate 72b and the frame side plate 72c are slid onto the bottom plate 2e and the first side plate 2c of the housing 2, respectively. That is, in this embodiment, the bottom plate 2e and the first side plate 2c of the housing 2 function as guides that guide the frame 72 of the power supply unit 7 in the mounting / removal direction. Then, the power supply unit 7 is inserted to a position where the fan cover 73 abuts against the rear frame 27, and the fan cover 73 is screwed to the rear frame 27.

[0048] (Main effects of this form) As described above, the controller 1 of this embodiment includes the housing 2 provided with the external power connector 70, the power supply unit 14 that converts AC current supplied from the external power connector 70 into DC current, and the control circuit board 4 to which DC current is supplied from the power supply unit 14. The power supply unit 14 includes a power supply unit 7 including a frame 72 detachable from the housing 2 and a first electronic element 71 fixed to the frame 72, and a second electronic element 15 fixed to the housing 2. The housing 2 includes an opening 20 through which the power supply unit 7 is inserted and removed.

[0049] According to this embodiment, the power supply unit 7 is configured by mounting some of the electronic elements (first electronic element 71) constituting the power supply unit 14 on the frame 72, and the housing 2 is provided with an opening 20 through which the power supply unit 7 can be inserted and removed. Therefore, the power supply unit 7 can be easily removed from the housing 2 without removing parts other than the power supply unit 7 from the housing 2. Therefore, when a malfunction occurs in the components of the power supply unit 7 including the first electronic element 71, it can be easily replaced. In addition, since the electronic elements constituting the power supply unit 14 are selected and some of the electronic elements (second electronic element 15) are fixed to the housing 2 without being mounted on the power supply unit 7, the power supply unit 7 can be made smaller and the opening 20 of the housing 2 for attaching and detaching the power supply unit 7 can be made smaller. Therefore, the rigidity of the housing 2 can be prevented from decreasing, and deformation of the housing 2 can be prevented. Furthermore, if only electronic elements that are frequently replaced are selected as the first electronic element 71 and mounted on the power supply unit 7, maintenance is easy.

[0050] Furthermore, by unitizing some of the components that make up the power supply unit 14 and facilitating their attachment and detachment to the housing 2, it becomes easier to access the components disposed around the power supply unit 7 by removing the power supply unit 7. This makes it easier to work on the components around the power supply unit 7, facilitating maintenance.

[0051] 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 element 71 mounted on the power supply unit 7 is not limited to one that configures a DC / AC conversion circuit, and may include other electronic elements.

[0052] In this embodiment, the direction in which the power supply unit 7 is inserted into and removed from the housing 2 (the attachment / detachment direction) is the second direction X, and 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 in the third direction Y (i.e., the maximum width in the direction intersecting with the attachment / detachment direction). In this way, by setting the direction in which the projected area of ​​the power supply unit 7 is small as the attachment / detachment direction, the opening 20 of the housing 2 can be made smaller. Therefore, it is possible to suppress a decrease in the rigidity of the housing 2 caused by providing the opening 20 to make the power supply unit 7 removable, and to suppress deformation of the housing 2.

[0053] In this embodiment, a reinforcing member that reinforces the opening 20 is provided in the housing 2, and the back frame 27 includes a first reinforcing frame 31 and a second reinforcing frame 32 that are reinforcing members that surround the edge of the opening 20. Therefore, the reinforcing member can suppress a decrease in rigidity of the housing 2 caused by providing the opening 20, and deformation of the housing 2 can be suppressed.

[0054] In this embodiment, the power supply unit 7 includes a fan cover 73 that abuts against the housing 2 in the attachment / detachment direction, and the fan cover 73 functions as a stopper when the power supply unit 7 is attached or detached. This allows the power supply unit 7 to be easily positioned. Also, since the power supply unit 7 can be prevented from being inserted deeper than the fixed position, it is possible to prevent malfunctions caused by collisions with other components when the power supply unit 7 is attached. The stopper may be provided in a location different from the fan cover 73. For example, the stopper may be provided on the frame 72.

[0055] In this embodiment, the bottom plate 2e and the first side plate 2c of the housing 2 function as guides that guide the frame 72 in the attachment / detachment direction. Therefore, the power supply unit 7 can be attached in the correct position, and malfunctions caused by collisions with other components can be avoided. For example, it is possible to prevent the power supply unit 7 from being inserted at an angle and colliding with the power supply cover 10, resulting in damage.

[0056] In this embodiment, the second electronic element 15 includes a noise filter 12 disposed adjacent to the power supply unit 7 in the third direction Y. In this way, by not mounting the noise filter 12 on the power supply unit 7, the power supply unit 7 can be made smaller. Also, the path of the wiring connecting the power supply unit 7 and the noise filter 12 can be shortened.

[0057] In this embodiment, the power supply unit 7 has a power supply cover 10 fixed inside the housing 2, and the power supply unit 7 is inserted and removed inside the power supply cover 10. The power supply unit 7 has a first electronic element 71 partially exposed from the frame 72, and when the power supply unit 7 is attached to the housing 2, the part of the first electronic element 71 exposed from the frame 72 is covered by the power supply cover 10. In this way, the power supply cover 10 can secure space for installing other components near the power supply unit 7. For example, in this embodiment, the fuse 11 is fixed to the Z2 side of the power supply cover 10, and the power supply cover 10 secures the installation space for the fuse 11. Therefore, the space inside the housing 2 can be effectively utilized, and the fuse 11 can be installed near the power supply unit 7. In addition, the power supply unit 7 has a shorter length in the second direction X of the frame upper plate 72a and the frame side plate 72d so as not to interfere with the power supply cover 10, and the frame 72 is made smaller. Therefore, the power supply unit 7 can be made smaller and lighter.

[0058] In this embodiment, the second electronic element 15 fixed to the housing 2 among the electronic elements constituting the power supply unit 14 is the fuse 11 and the noise filter 12, but other electronic elements may be included in the second electronic element 15. Also, the second electronic element 15 may be configured so that at least a portion thereof is fixed to the power supply cover 10, and a configuration in which a noise filter is fixed to the power supply cover 10 may also be adopted.

[0059] In this embodiment, the power supply cover 10 is provided with a relay connector 16 to which the power supply unit 7 is connected. Therefore, the DC current output from the power supply unit 7 can be supplied to the control circuit board 4 and the like via the relay connector 16. By providing such a relay connector, when disconnecting the wiring of the power supply unit 7, the work of disconnecting the wiring of the power supply unit 7 can be easily performed since the work can be performed on the relay connector 16. Particularly in this embodiment, the relay connector 16 is disposed at the end of the Z2 side of the cover side plate 10b, and is located in a position that can be accessed without removing surrounding components. Therefore, since there is no need to pull out the wiring hidden by other components, the work of disconnecting the wiring of the power supply unit 7 and the work of connecting the wiring of the power supply unit 7 are easy.

[0060] In this embodiment, the housing 2 includes a second interface panel 24 on which an external power connector 70 is provided, and a rear plate 2b facing the second interface panel 24. The opening 20 is provided in the rear plate 2b, and an input terminal 75 connected to the external power connector 70 via a second electronic element 15 (fuse 11 and noise filter 12) is disposed at the tip of the power supply unit 7 on the second interface panel 24 side. With this arrangement, the input terminal 75 can be disposed close to the external power connector 70. This allows the wiring path to be shortened, and wiring work is also easy.

[0061] In this embodiment, the housing 2 has a bottom plate 2e that intersects with the back plate 2b. The power supply unit 7 has an output terminal 76 that is disposed at the end of the frame 72 on the opposite side (Z2 side) from the bottom plate 2e. Therefore, when the second case 22 having the top plate 2f is removed, the output terminal 76 is in an easily accessible position without being hidden by other components, so that the work on the output terminal 76 is easy and there is no need to pull out the wiring hidden by other components. Therefore, the work of disconnecting the wiring of the power supply unit 7 and the work of connecting the wiring of the power supply unit 7 are easy. [Explanation of symbols]

[0062] REFERENCE SIGNS LIST 1...controller, 2...housing, 2a...front plate, 2b...rear plate, 2c...first side plate, 2d...second side plate, 2e...bottom plate, 2f...upper 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...reinforcing member, 10...power supply cover, 10a...cover upper plate, 10b...cover side plate, 11...fuse, 12...noise filter, 12a, 12b, 12c...output terminal, 13...bracket, 14...power supply unit, 15...second electronic element, 16...relay connector, 20...opening, 21...first case, 22...second case, 23...first Interface panel, 24...second interface panel, 25...housing frame, 26...front frame, 27...rear frame, 28...side frame, 29...grounding member, 31...first reinforcing frame, 32...second reinforcing frame, 34...external connection connector, 59...external output connector, 70...external power connector, 71...first electronic element, 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...regenerative circuit module, X...second direction, Y...third direction, Z...first direction

Claims

1. a housing provided with an external power connector; a power supply unit that converts AC current supplied from the external power connector into DC current; a substrate to which a direct current is supplied from the power supply unit; The power supply unit includes: a power supply unit including a frame that is detachable from the housing and a first electronic element that is fixed to the frame; a second electronic element fixed to the housing, The controller, wherein the housing has an opening through which the power supply unit is inserted and removed.

2. When a direction in which the power supply unit is inserted into and removed from the housing is defined as an attachment / detachment direction, 2 . The controller according to claim 1 , wherein a length of the power supply unit in the mounting / removal direction is greater than a maximum dimension of the power supply unit in a direction intersecting the mounting / removal direction.

3. The controller according to claim 2 , wherein the power supply unit includes a stopper that abuts against the housing in the mounting / removal direction.

4. 4. The controller according to claim 2, wherein the housing includes a guide portion that guides the frame in the attachment / detachment direction.

5. 5. The controller according to claim 2, wherein the second electronic element includes a noise filter disposed adjacent to the power supply unit in a direction intersecting the mounting and removing direction.

6. The controller according to claim 1 , wherein the housing includes a reinforcing member that reinforces the opening.

7. a power supply cover fixed within the housing; The power supply unit is inserted into and removed from the inside of the power supply cover, The controller according to claim 1 , wherein at least a portion of the first electronic element is exposed to the outside of the frame and is covered by the power supply cover.

8. 8. The controller according to claim 7, wherein the power supply cover is provided with a relay connector to which the power supply unit is connected.

9. 9. The controller according to claim 7, wherein at least a portion of the second electronic element is fixed to the power supply cover.

10. the housing includes an interface panel on which the external power connector is provided, and a back panel facing the interface panel; The opening is provided in the rear plate, 10. The controller according to claim 1, wherein an input terminal connected to the external power connector via the second electronic element is disposed at an end of the power supply unit on the interface panel side.

11. The housing includes a bottom plate intersecting with the rear plate, The power supply unit includes an output terminal. The controller according to claim 10 , wherein the output terminal is disposed at an end of the frame opposite to the bottom plate.

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