Controller

Abstract

To effectively use an internal space of a housing, and facilitate an attachment / detachment work of a board to / from the housing, and inspection and maintenance of the board.SOLUTION: A controller 1 includes a drive power supply circuit substrate unit 6 accommodated in a housing 2. The drive power supply circuit substrate unit 6 includes a first substrate 61, a second substrate 62 parallel to the first substrate 61, and a support member 63. The support member 63, the first substrate 61, and the second substrate 62 are laminated in this order. The housing 2 has a bottom plate 2e that abuts against the support member 63, and the support member 63 has center holes 67a and 69a that overlap with fixing holes 2h provided in a bottom plate 2e, and can screw the support member 63 to the bottom plate 2e from the outside of the housing 2. The support member 63 is provided with a positioning convex portion 73, and the bottom plate 2e is provided with a positioning hole 74. The positioning hole 74 also serves as a fixing hole 2h for fixing the support member 63.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a controller in which a plurality of boards are stacked and housed in a housing. [Background technology]

[0002] Patent Document 1 describes a robot controller that includes a control circuit board and multiple drive circuit boards connected to the control circuit board. Each drive circuit board is arranged perpendicular 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, in addition to a control circuit board and a drive circuit board, multiple boards such as a power supply circuit board, a communication interface board, and a drive voltage generation board (drive power supply circuit board). The drive voltage generation board (drive power supply circuit board) is a large board on which a capacitor is mounted. [Prior art documents] [Patent documents]

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

[0005] In order to miniaturize the controller, it has been proposed to divide the drive power circuit board into two and stack them to form a board unit, thereby making effective use of the internal space of the housing.However, when one board is divided into two, it is necessary to attach and detach each board one by one when assembling it inside the housing or removing it from the housing for replacement, and it is also necessary to properly connect the wiring between the boards, which is a lot of work.

[0006] In view of the above problems, an object of the present invention is to make effective use of the internal space of the housing, and to facilitate the attachment and detachment of the board to and from the housing, as well as the inspection and maintenance of the board. [Means for solving the problem]

[0007] In order to solve the above problem, the present invention provides a device comprising a first substrate, a second substrate parallel to the first substrate, a support member to which the first substrate and the second substrate are fixed, and a housing that houses the first substrate, the second substrate, and the support member, wherein the support member, the first substrate, and the second substrate are stacked in this order, the housing has an exterior plate that abuts against the support member, the support member has support member-side fixing holes that overlap with housing-side fixing holes provided in the exterior plate, one of the support member and the exterior plate has a plurality of positioning protrusions, and the other of the support member and the exterior plate has a plurality of positioning holes into which the plurality of positioning protrusions fit.

[0008] According to the present invention, the first substrate, the second substrate, and the support member are stacked and unitized, thereby enabling a smaller installation area compared to mounting electronic elements on a single large substrate. This allows for effective use of the space within the housing. Furthermore, the first substrate and the second substrate can be handled as a single unit, and attachment and detachment to and from the housing can be achieved simply by inserting and detaching the screws that secure the support member to the exterior plate into the fixing holes from the outside of the housing. In addition, a fitting structure (positioning protrusions and positioning holes) is provided between the support member and the exterior plate, making it easy to position the support member relative to the housing. This allows the first substrate and the second substrate to be easily attached and detached to and from the housing. This makes it easy to inspect and maintain the first and second substrates.

[0009] In the present invention, the support member preferably has an opening facing at least a portion of the electronic elements and lands on the first substrate. This allows access to the electronic elements and lands on the first substrate without disassembling the unit assembled from the first substrate, second substrate, and support member. This facilitates inspection and maintenance of the circuits and electronic elements on the first substrate. Furthermore, the weight of the support member can be reduced by the amount of the opening.

[0010] In the present invention, it is preferable that the support member includes a support plate parallel to the first substrate and the second substrate and a second substrate support portion connected to the support plate, and the first substrate is supported by the support plate, and the second substrate is supported by the second substrate support portion and the first substrate. This increases the degree of freedom in the shape and arrangement of the first substrate and the second substrate. For example, the first substrate and the second substrate can be arranged offset from each other. Furthermore, the first substrate can be made smaller than the second substrate.

[0011] In the present invention, the first substrate is supported by the tips of first support posts protruding from the support plate toward the first substrate, and the second substrate support portion preferably includes a plate portion located on the same plane as the first substrate, a connecting plate portion connecting the plate portion to the support plate, and a second support post protruding from the plate portion toward the opposite side of the second substrate, and the support plate and the second support post are each screwed to the exterior plate. In this manner, the first support posts ensure a gap between the support plate and the first substrate, preventing electronic elements arranged on the first substrate from interfering with the support plate. Furthermore, the length of the spacer arranged between the first substrate and the second substrate can be made the same as that of the second spacer arranged between the plate portion and the second substrate. This allows for the use of standard components.

[0012] In the present invention, it is preferable that the positioning protrusion is provided at the tip of the second support and the positioning hole is provided in the exterior plate. In this way, when positioning a unit assembled from the first substrate, the second substrate, and the support member in the housing, the tip of the second support can be inserted into the positioning hole in the exterior plate while visually checking the positioning hole, making the positioning work easy.

[0013] In the present invention, it is preferable that a plurality of the housing-side fixing holes and the support member-side fixing holes are provided, some of the plurality of support member-side fixing holes are provided in the positioning protrusion, and some of the plurality of housing-side fixing holes also serve as the positioning holes. In this way, by using some of the fixing holes for screw fixation also as positioning holes, the shape of the part can be simplified.

[0014] In the present invention, a plate-like member is preferably provided between the support plate and the exterior plate, and the plate-like member has a notch surrounding the positioning hole. This prevents the tip of the second support from interfering with the plate-like member. In addition, the notch in the plate-like member serves as a marker surrounding the positioning hole, making it easy to find the positioning hole visually.

[0015] In the present invention, it is preferable that a plurality of the plate-like members are arranged at predetermined intervals, a gap is provided between the support plate and the exterior plate so that the plate-like members are not interposed, and a flat cable is arranged in the gap. In this way, space for routing the flat cable can be secured in the gap between the support plate and the exterior plate, thereby preventing interference between the first board and the second board and the flat cable.

[0016] In the present invention, a conductive first spacer is disposed between the second substrate and the first substrate. In this way, the first spacer can provide electrical continuity between the circuit on the first substrate and the circuit on the second substrate, facilitating wiring work. [Effects of the Invention]

[0017] According to the present invention, the first substrate, the second substrate, and the support member are stacked and unitized, thereby enabling a smaller installation area compared to mounting electronic elements on a single large substrate. This allows for more efficient use of the space within the housing. Furthermore, the first and second substrates can be handled as a single unit, and attachment and detachment to and from the housing can be achieved simply by inserting and detaching screws that secure the support member to the exterior plate into fixing holes from the outside of the housing. Additionally, a fitting structure (positioning protrusions and positioning holes) is provided between the support member and the exterior plate, facilitating positioning of the support member relative to the housing. Therefore, the first and second substrates can be easily attached and detached to and from the housing, facilitating inspection and maintenance of the first and second substrates. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a perspective view of the appearance of a controller to which the present invention is applied; [Figure 2] FIG. 2 is a perspective view of the controller with the second case, the first interface panel, and part of the housing frame removed. [Figure 3] FIG. 2 is an exploded perspective view of a first case, a rear frame, and a drive power supply circuit board unit. [Figure 4] FIG. 10 is a perspective view of the drive power supply circuit board unit as viewed from the Z1 side. [Figure 5] FIG. 2 is an exploded perspective view of a drive power supply circuit board unit and a plate-shaped member. [Figure 6] 4 is a cross-sectional view of the first case and the drive power supply circuit board unit (a cross-sectional view taken along the line AA in FIG. 3). [Figure 7] 7 is an enlarged cross-sectional view of the first case and the drive power supply circuit board unit (a partially enlarged view of region B in FIG. 6). FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A controller according to an embodiment of the present invention will be described below with reference to the drawings. A controller 1 according to this embodiment is a device that supplies power to a robot (manipulator) equipped with an actuator such as a motor.

[0020] FIG. 1 is an external perspective view of a controller 1 to which the present invention is applied. FIG. 2 is an oblique view of the controller 1 with the second case 22, the first interface panel 23, and part of the housing frame 25 removed. In this specification, the three directions X, Y, and Z are mutually orthogonal. For convenience, in this specification, the first direction Z is defined as 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 direction and the Y2 direction are one side and the other of the third direction Y. Note that, in actual use of the controller 1, the first direction Z does not have to coincide with the up-down direction (vertical direction).

[0021] (Overall composition) As shown in FIGS. 1 and 2, the controller 1 includes a metal housing 2. The housing 2 is a rectangular parallelepiped and includes a front panel 2a facing in the X1 direction, a back panel 2b facing in the X2 direction, a first side panel 2c facing in the Y1 direction, a second side panel 2d facing in the Y2 direction, a bottom panel 2e facing in the Z1 direction, and a top panel 2f facing in the Z2 direction. In this embodiment, the components that make up the housing 2 include a first case 21 including the bottom panel 2e, the first side panel 2c, and the back panel 2b, a second case 22 including the top panel 2f and the second side panel 2d, a first interface panel 23 and a second interface panel 24 that make up the front panel 2a, and a housing frame 25. The housing frame 25 includes a rectangular front frame 26 to which the front panel 2a is fixed, a rectangular back frame 27 to which the back panel 2b is fixed, and a rectangular side frame 28 to which the second side panel 2d is fixed. .

[0022] 2, 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 to the back plate 2b of the housing 2 side by side in the third direction Y, and a reinforcing member 9 that spans the inside of the housing 2 in the third direction Y to support the top plate 2f from the bottom plate 2e side (Z1 side). The reinforcing member 9 is a beam member that spans between a power supply cover 10 fixed to the housing 2 and the side frame.

[0023] 2, 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 31 and 32 are stacked on the Z2 side of the board fixing panel 33 via a spacer and screwed to the board fixing panel 33. A plurality of external connection connectors 34 mounted on the communication board unit 3 are each disposed in holes provided in the first interface panel 23. The board fixing panel 33 is fixed to the first interface panel 23. Therefore, by removing the screws that fix the first interface panel 23 to the front frame 26, the first interface panel 23 and the communication board unit 3 can be removed together.

[0024] On the rear side (X2 side) of the communication board unit 3, a drive power supply circuit board unit 6 and a drive circuit board unit 5 are arranged in this order. The drive power supply circuit board unit 6 is configured by stacking a first board 61 and a second board 62 on the Z2 side of a support member 63 (see Figures 3 to 6), and is screwed to the bottom plate 2e. Of the electronic elements mounted on the first board 61 and the second board 62, only the capacitor 64 is shown in Figure 2; the other electronic elements are not shown.

[0025] As shown in FIG. 2, the power supply unit 7 is disposed at the Y1-direction end of the housing 2. The power supply unit 7 is configured to be detachable from the housing 2, and can be removed in the X2 direction from an opening provided at the Y1-side end of the back panel 2b. The power supply unit 7 is a long, slender unit that extends from the back panel 2b to the rear side of the external power connector 70 that is disposed at the Y1-side end of the second interface panel 24. A midpoint of the power supply unit 7 in the second direction X is disposed inside the power supply cover 10 that is fixed to the housing 2.

[0026] 2, a fuse 11 connected to an external power connector 70 is disposed on the Z2 side of the power supply cover 10. The fuse 11 is connected to a noise filter 12 disposed adjacent to the power supply cover 10 in the Y2 direction. The noise filter 12 includes a filter circuit for removing noise superimposed on the AC current supplied from the external power connector 70 via the fuse 11.

[0027] The AC current output from noise filter 12 is distributed to drive power supply circuit board unit 6 and power supply unit 7. Power supply unit 7 converts the AC current distributed from noise filter 12 into 5 V DC current and 24 V DC current, and supplies them to control circuit board 4 (see FIG. 3) fixed to bottom plate 2e of housing 2. The 24 V DC current is supplied to fan 8 via control circuit board 4. Power supply unit 7 also converts the AC current into 15 V DC current, and supplies it to drive power supply circuit board unit 6. Drive power supply circuit board unit 6 converts the AC current distributed from noise filter 12 into drive current (DC current) of a different voltage from the voltage supplied from power supply unit 7, and supplies it to drive circuit board unit 5.

[0028] As shown in Fig. 2, the drive circuit board unit 5 includes four drive circuit boards 51 arranged at regular intervals in the third direction Y, a heat dissipation member 52 fixed to each drive circuit board 51, and a board holder 53. A power module such as an IGBT module is mounted on each drive circuit board 51. The heat dissipation member 52 is attached so as to be in contact with or face the power module, and has fins extending in the second direction X. As shown in FIG. 3, the board holder 53 is fixed to the bottom plate 2e of the housing 2. The four drive circuit boards 51 are held by the board holder 53 in an orientation parallel to the XZ plane, and face in the second direction X two fans 8 attached to the back plate 2b of the housing 2. Therefore, when the fans 8 are driven, air is sent into the gaps between the drive circuit boards 51, cooling the drive circuit boards 51 and the heat dissipation member 52.

[0029] A control circuit board 4 is disposed on the bottom of the housing 2 so as to be parallel to the bottom plate 2e. The control circuit board 4 is screwed to the tip of a stepped pin 2g (see FIG. 3) that protrudes from the bottom plate 2e toward the Z2 side. A drive circuit board 51 is disposed above the control circuit board 4 (in the Z2 direction) so as to be perpendicular to the control circuit board 4. The drive circuit board 51 is connected to the control circuit board 4 via a connector that fits in the first direction Z.

[0030] 2, an output connector 56 is disposed at the end on the X1 side of each drive circuit board 51. Wiring (not shown) connected to the output connector 56 is drawn out to the X1 side and 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, power is supplied from the controller 1 to the manipulator.

[0031] (Drive power supply circuit board unit) FIG. 3 is an exploded perspective view of the first case 21, rear frame 27, and drive power supply circuit board unit 6. FIG. 4 is a perspective view of the drive power supply circuit board unit 6 as viewed from the Z1 side. FIG. 5 is an exploded perspective view of the drive power supply circuit board unit 6 and plate-like members 60a, 60b, 60c, and 60d. FIG. 6 is a cross-sectional view of the first case 21 and the drive power supply circuit board unit 6 (a cross-sectional view taken along line AA in FIG. 3). FIG. 7 is a partially enlarged cross-sectional view of the first case 21 and the drive power supply circuit board unit 6 (a partially enlarged view of region B in FIG. 6).

[0032] The drive power supply circuit board unit 6 includes a first substrate 61 and a second substrate 62 that are parallel to the XY plane, and a support member 63 to which the first substrate 61 and the second substrate 62 are fixed. The support member 63, the first substrate 61, and the second substrate 62 are stacked in this order in the first direction Z. As shown in FIG. 3, the bottom plate 2e has fixing holes 2h at multiple positions that overlap with the support members 63. The drive power supply circuit board unit 6 is fixed to the housing 2 by screwing the support member 63, which is arranged in the lowest layer, to the bottom plate 2e from the outside of the housing 2 (i.e., the Z1 side).

[0033] 2 and 3, electronic elements including capacitors 64, conductive patterns, and lands are arranged on second substrate 62, which is arranged on the top layer. Electronic elements, conductive patterns, and lands that constitute a circuit connected to a circuit provided on second substrate 62 are arranged on first substrate 61. Insulating paper 65 is arranged on the edge on the X1 side of second substrate 62 so as to surround capacitors 64 from the X1 side.

[0034] As shown in FIG. 3, metal plate-shaped members 60a, 60b, 60c, and 60d are fixed to the bottom plate 2e of the housing 2. Therefore, the drive power supply circuit board unit 6 is attached to the housing 2 so that the plate-shaped members 60a, 60b, 60c, and 60d are sandwiched between the support member 63 and the bottom plate 2e. Because the plate-shaped members 60a, 60b, 60c, and 60d are spaced apart, a gap S (see FIG. 7) is formed between the support member 63 and the bottom plate 2e at the position between adjacent plate-shaped members. The flat cable 40, which connects the control circuit board 4 located on the X2 side of the drive power supply circuit board unit 6 and the communication board unit 3 located on the X1 side of the drive power supply circuit board unit 6, is routed so as to pass through the gap S between the plate-shaped member 60a located closest to the Y2 side and the plate-shaped member 60b located adjacent to it. The flat cable 40 is covered with aluminum tape 41 from the Z2 side.

[0035] 4 and 5, the support member 63 includes a support plate 66 parallel to the first substrate 61 and the second substrate 62, a first support pillar 67 protruding from the support plate 66 toward the Z2 side, and a second substrate support portion 68 provided at the end of the support plate 66 on the Y2 side. The first substrate 61 abuts against the tip surface of the first support pillar 67. The support plate 66 includes an opening 66a facing the electronic elements and lands arranged on the first substrate 61.

[0036] The second substrate support portions 68 are provided at both ends in the second direction X at the Y2-side end of the support plate 66. The second substrate support portion 68 includes a plate portion 68a located on the Z2 side of the support plate 66, a connecting plate portion 68b connecting the plate portion 68a to the support plate 66, and a second support pillar 69 protruding in the Z2 direction from the plate portion 68a. The connecting plate portion 68b bends and extends from the X2-side edge of the support plate 66 toward the Z2 side, and the plate portion 68a bends from the tip of the connecting plate portion 68b toward the X1 side. In this embodiment, the plate portion 68a is located on the same plane as the first substrate 61 abutting against the first support pillar 67.

[0037] A columnar first spacer 71 extending in the first direction Z is disposed between the first substrate 61 and the second substrate 62. A columnar second spacer 72 extending in the first direction Z is disposed between the support member 63 and the second substrate 62. The first spacer 71 and the second spacer 72 are screwed to the second substrate 62 from the Z2 side with screws (not shown). The first spacer 71 is disposed at a position where the first substrate 61 and the second substrate 62 face each other in the first direction Z. A first protrusion 71a protruding in the Z1 direction is provided on the tip surface of the first spacer 71 in the Z1 direction.

[0038] The first spacers 71 include two first spacers 71A arranged at positions overlapping with the first support columns 67 of the support member 63, and five first spacers 71B arranged at positions not overlapping with the first support columns 67. First protrusions 71a provided on the two first spacers 71A protrude toward the Z1 side from two of four through holes 61a provided on the edge of the first substrate 61 on the X1 side and fit into central holes 67a passing through the first support columns 67 (see FIGS. 6 and 7). Furthermore, the first protrusions 71a provided on the five first spacers 71B fit into five through holes 61b provided in the first substrate 61 (see FIG. 4).

[0039] The second spacer 72 is disposed at a position where the second substrate support portion 68 of the support member 63 and the second substrate 62 face each other in the first direction Z. The second spacer 72 is disposed at two locations on both ends of the Y2-side end of the second substrate 62 in the second direction X. The Y2-side end of the second substrate 62 extends further toward the Y2 side than the Y2-side end of the first substrate 61 and faces the second substrate support portion 68 in the first direction Z. The Z1-side end surface of the second spacer 72 abuts against the plate portion 68a of the second substrate support portion 68. A second protrusion 72a protruding from the Z1-side end surface of the second spacer 72 fits into a central hole 69a that penetrates the plate portion 68a and the second support column 69 (see FIGS. 6 and 7).

[0040] As shown in FIG. 3, the plate-shaped member 60a fixed to the Y1-side end of the bottom plate 2e faces the second board support portion 68. The plate-shaped member 60a has two notches 60e cut out from both ends of the Y2-side end. The notches 60e are shaped to surround the fixing holes 2h. When fixing the drive power supply circuit board unit 6 to the bottom plate 2e, the tips of the two second support columns 69 provided at the Y2-side end of the support member 63 are directed toward the notches 60e, and the positioning protrusions 73 protruding from the tip surfaces of the second support columns 69 are fitted into the fixing holes 2h. This positions the drive power supply circuit board unit 6 with respect to the bottom plate 2e.

[0041] As shown in Fig. 7, a central hole 69a penetrating the second support column 69 opens to the tip surface of the positioning protrusion 73. The second substrate support section 68 is fixed to the bottom plate 2e by inserting a screw into the fixing hole 2h from the Z1 side of the bottom plate 2e and screwing it into the central hole 69a. As shown in Fig. 3, in this embodiment, six fixing holes 2h are provided in the bottom plate 2e, but the end of the bottom plate 2e on the Y2 side Two fixing holes 2h arranged in the bottom plate 2e also serve as positioning holes 74 that fit with positioning protrusions 73 of the support member 63. The other four fixing holes 2h overlap with through holes 60f provided in the plate-like members 60c, 60d. Therefore, the support plate 66 is screwed to the bottom plate 2e by inserting a screw into the fixing hole 2h from the Z1 side of the bottom plate 2e, passing it through the through hole 60f, and screwing it into the center hole 67a of the first support column 67.

[0042] (Main effect of this form) As described above, the controller 1 of this embodiment includes a drive power supply circuit board unit 6 housed in the housing 2. The drive power supply circuit board unit 6 includes a first board 61, a second board 62 parallel to the first board 61, and a support member 63 to which the first board 61 and the second board 62 are fixed. The support member 63, the first board 61, and the second board 62 are stacked in this order. The housing 2 includes a bottom plate 2e, which is an exterior plate that abuts against the support member 63. The support member 63 includes center holes 67a and 69a, which are support member-side fixing holes that overlap with fixing holes 2h, which are housing-side fixing holes, provided in the bottom plate 2e. The bottom plate 2e is screwed to the support member 63 from the outside of the housing 2. The support member 63 includes a positioning protrusion 73, and the bottom plate 2e includes a positioning hole 74 into which the positioning protrusion 73 fits.

[0043] According to this embodiment, the first substrate 61, the second substrate 62, and the support member 63 are stacked and unitized, thereby reducing the installation area of ​​the drive power supply circuit board unit 6 compared to when electronic elements are mounted on a single large substrate. This allows for effective use of the space within the housing 2. Furthermore, the first substrate 61 and the second substrate 62 can be handled as a single unit, and the support member 63 can be attached to and detached from the housing 2 simply by inserting screws that secure the support member 63 to the bottom plate 2e from the outside of the housing 2 into the fixing holes 2h (housing-side fixing holes) in the bottom plate 2e and then inserting and detaching the screws into the center holes 67a, 69a (support-member-side fixing holes) provided in the first support column 67 and the second support column 69 of the support member 63. Furthermore, the fitting structure (positioning protrusions 73 and positioning holes 74) provided between the support member 63 and the bottom plate 2e facilitates positioning of the support member 63 relative to the housing 2. Therefore, the first board 61 and the second board 62 can be easily attached to and detached from the housing 2, and therefore inspection and maintenance of the first board 61 and the second board 62 are easy.

[0044] In this embodiment, the positioning protrusions 73 are provided on the support member 63 and the positioning holes 74 are provided on the bottom plate 2e, but the protrusions and recesses of the fitting structure for positioning may be reversed. That is, the positioning holes may be provided on the support member 63 and the positioning protrusions may be provided on the bottom plate 2e.

[0045] In this embodiment, the support member 63 includes a support plate 66 parallel to the first substrate 61, and the support plate 66 includes an opening 66a facing at least a portion of the electronic elements and lands provided on the first substrate 61. Therefore, the electronic elements and lands on the first substrate 61 can be accessed through the opening 66a without having to disassemble the drive power supply circuit board unit 6, facilitating inspection and maintenance of the circuits and electronic elements on the first substrate 61. Furthermore, the provision of the opening 66a allows the weight of the support member 63 to be reduced, thereby reducing the weight of the drive power supply circuit board unit 6.

[0046] In this embodiment, the support member 63 includes a support plate 66 parallel to the first substrate 61 and the second substrate 62, and a second substrate support portion 68 connected to the support plate 66. The first substrate 61 is supported by the support plate 66, and the second substrate 62 is supported by the second substrate support portion 68 and the first substrate 61. This increases the degree of freedom in the shapes and arrangement of the first substrate 61 and the second substrate 62. For example, the first substrate 61 and the second substrate 62 can be arranged offset from each other. Furthermore, the first substrate 61 can be made smaller than the second substrate 62.

[0047] In this embodiment, the first substrate 61 is supported by the tip of a first support 67 that protrudes from a support plate 66 toward the first substrate 61. The second substrate support 68 is located on the same plane as the first substrate 61. The second board support portion 68 includes a plate portion 68a, a connecting plate portion 68b connecting the plate portion 68a and the support plate 66, and a second support pillar 69 protruding from the plate portion 68a toward the side opposite the second board 62. The support plate 66 and the second support pillar 69 are each screwed to the bottom plate 2e. In this manner, the first support pillar 67 ensures a gap between the support plate 66 and the first board 61, preventing electronic elements arranged on the first board 61 from interfering with the support plate 66. Furthermore, the second board support portion 68 includes the plate portion 68a located on the same plane as the first board 61. This allows the first spacer 71 arranged between the first board 61 and the second board 62 and the second spacer 72 arranged between the plate portion 68a and the second board 62 to have the same length. This allows for the use of standardized components.

[0048] In this embodiment, a positioning protrusion 73 is provided at the tip of the second support column 69, and a positioning hole 74 is provided in the bottom plate 2e. Therefore, when positioning the drive power supply circuit board unit 6, which is an assembly of the first board 61, the second board 62, and the support member 63, in the housing 2, the tip of the second support column 69 can be inserted into the fixing hole 2h (positioning hole 74) while visually checking the fixing hole 2h (positioning hole 74) in the bottom plate 2e. This makes the positioning work easy.

[0049] In this embodiment, the central hole 69a that penetrates the second support 69 opens at the tip of the positioning protrusion 73, and two of the fixing holes 2h provided in the bottom plate 2e also serve as positioning holes 74 into which the positioning protrusions 73 fit. Therefore, the number of holes in the bottom plate 2e can be reduced, and the component shape can be simplified.

[0050] In this embodiment, a plate-shaped member 60a is provided that is sandwiched between the support plate 66 and the bottom plate 2e, and the plate-shaped member 60a has a notch 60e that surrounds the positioning hole 74. This prevents the tip of the second support column 69 from interfering with the plate-shaped member 60a. Furthermore, the notch 60e of the plate-shaped member 60a serves as a marker that surrounds the positioning hole 74, making it easy to find the positioning hole 74 visually. This makes the positioning operation easy.

[0051] In this embodiment, multiple plate-like members 60a, 60b, 60c, and 60d are arranged at predetermined intervals. As a result, a gap S is formed between the support plate 66 and the bottom plate 2e, with no plate-like member 60a interposed, and the flat cable 40 is arranged in this gap S. Therefore, a space for routing the flat cable 40 can be secured between the drive power supply circuit board unit 6 and the bottom plate 2e, and the flat cable 40 connecting the control circuit board 4 and the communication board unit 3 can be prevented from interfering with the drive power supply circuit board unit 6.

[0052] In this embodiment, a conductive first spacer 71 is provided between the second substrate 62 and the first substrate 61, and a second spacer 72 is provided between the second substrate 62 and the plate portion 68a. In this way, the first spacer 71 can ensure electrical continuity between the circuit on the first substrate 61 and the circuit on the second substrate 62. This makes wiring easy. [Explanation of symbols]

[0053] 1...controller, 2...casing, 2a...front plate, 2b...rear plate, 2c...first side plate, 2d...second side plate, 2e...bottom plate, 2f...upper plate, 2g...step pin, 2h...fixing hole, 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, 11...fuse, 12...noise filter, 21...first case, 22...second case, 23...first interface panel, 24...second interface panel, 25...casing frame, 26...front frame, 27...rear frame, 28...side frame, 31, 32...communication board, 33...board fixing panel, 34...external connection connector, 40...flat cable, 41...aluminum tape, 51...drive circuit board, 52...heat dissipation member, 53...board holder, 56...output connector, 59...external output connector, 60a, 60b, 60c, 60d...plate-shaped member, 60e...notch, 60 f...through hole, 61...first substrate, 61a...through hole, 61b...through hole, 62...second substrate, 63...support member, 64...capacitor, 65...insulating paper, 66...support plate, 66a...opening, 67...first support post, 67a...center hole, 68...second substrate support portion, 68a...plate portion, 68b...connection plate portion, 69...second support post, 69a...center hole, 70...external power connector, 71, 71A, 71B...first spacer, 71a...first protrusion, 72...second spacer, 72a...second protrusion, 73...positioning protrusion, 74...positioning hole, S...gap, X...second direction, Y...third direction, Z...first direction

Claims

1. a first substrate, a second substrate parallel to the first substrate, a support member to which the first substrate and the second substrate are fixed, and a housing that houses the first substrate, the second substrate, and the support member; the support member, the first substrate, and the second substrate are stacked in this order; the housing includes an exterior plate that abuts against the support member, the support member includes a support member-side fixing hole that overlaps with a housing-side fixing hole provided in the exterior plate, A controller characterized in that one of the support member and the exterior plate is provided with a plurality of positioning protrusions, and the other of the support member and the exterior plate is provided with a plurality of positioning holes into which the plurality of positioning protrusions fit.

2. The controller according to claim 1 , wherein the support member has an opening that faces at least a part of an electronic element and a land provided on the first substrate.

3. the support member includes a support plate parallel to the first substrate and the second substrate, and a second substrate support portion connected to the support plate; the first substrate is supported by the support plate; The controller according to claim 1 or 2, wherein the second substrate is supported by the second substrate support portion and the first substrate.

4. the first substrate is supported by a tip of a first support pillar that protrudes from the support plate toward the first substrate, the second substrate support portion includes a plate portion located on the same plane as the first substrate, a connecting plate portion connecting the plate portion and the support plate, and a second support pillar protruding from the plate portion on a side opposite to the second substrate, The controller according to claim 3 , wherein the support plate and the second support column are each screwed to the exterior plate.

5. the positioning protrusion is provided at a tip of the second support pillar, The controller according to claim 4 , wherein the positioning hole is provided in the exterior plate.

6. a plurality of the housing-side fixing holes and a plurality of the support member-side fixing holes; some of the plurality of support member side fixing holes are provided in the positioning protrusion, The controller according to claim 5 , wherein some of the plurality of housing-side fixing holes also serve as the positioning holes.

7. a plate-like member sandwiched between the support plate and the exterior plate, 7. The controller according to claim 5, wherein the plate-like member has a notch surrounding the positioning hole.

8. The plate-like members are arranged in plurality at predetermined intervals, a gap is provided between the support plate and the exterior plate, so that the plate-like member is not interposed; The controller according to claim 7 , wherein a flat cable is disposed in the gap.

9. 9. The controller according to claim 1, further comprising a conductive first spacer disposed between the second substrate and the first substrate.

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