JP2015139357A - Motor driver - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor driver in which voltage drop between a drive circuit board and a power supply circuit board can be suppressed, while reducing the effect of noise received by the drive circuit board, in a motor driver constituted of a plurality of motor drive units of different output capacity.SOLUTION: In a motor driver 1, motor drive units 2A-2F are arranged so that the output capacity decreases toward the X1 direction side. Furthermore, in the motor driver 1, the drive circuit board and power supply circuit board of the motor drive units 2A-2F are connected electrically in parallel, so that the length of wiring between the drive circuit board and power supply circuit board of the motor drive units 2A-2F arranged on the X2 direction side, out of two motor drive units 2A-2F arranged contiguously each of the in the X direction, is shorter than the length of wiring between the drive circuit board and power supply circuit board of the motor drive units 2B-2F arranged on the X1 direction side.

Description

  The present invention relates to a motor driving device that drives a plurality of motors.

  2. Description of the Related Art Conventionally, a multi-axis motor drive device configured by connecting a plurality of motor drive units having the same function is known (see, for example, Patent Document 1). In the motor drive device described in Patent Document 1, each motor drive unit includes a control board and a case to which the control board is fixed. The plurality of motor drive units are arranged adjacent to each other in the thickness direction of the control board fixed to the case. Further, the motor drive device includes one power supply device, and power is supplied from the single power supply device to a plurality of motor drive units. Further, the power supply device is disposed adjacent to the motor drive unit disposed at the end in the thickness direction of the control board.

JP-A-8-168293

  As a multi-axis motor driving device, there is a motor driving device constituted by a plurality of motor driving units having different output capacities. Further, in the motor drive device described in Patent Document 1, between the power supply device and the control board of the motor drive unit, it is proportional to the electrical resistance of the wiring between the power supply device and the control board and the magnitude of the current flowing through the wiring. However, in order to ensure the performance of the motor driven and controlled by the motor drive unit, it is preferable that this voltage drop is small. Furthermore, in the motor drive device described in Patent Document 1, noise is generated from the electronic components of the switching elements mounted on the control board and the wiring between the power supply device and the control board, but is driven and controlled by the motor drive unit. In order to ensure the performance of the motor, it is preferable that the control board is less susceptible to noise.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a drive circuit board on which a motor drive circuit and a control circuit are mounted, and a power supply circuit board on which a power supply circuit is mounted in a motor drive device including a plurality of motor drive units having different output capacities. It is an object of the present invention to provide a motor drive device that can suppress a voltage drop between the drive circuit board and the drive circuit board and that can reduce the influence of noise on the drive circuit board.

  In order to solve the above problems, the motor drive device of the present invention includes a plurality of motor drive units for driving and controlling a predetermined number of motors, and the motor drive unit is mounted with a motor drive circuit and a control circuit. A drive circuit board; and a frame to which the drive circuit board is fixed. The plurality of motor drive units are arranged in a thickness direction of the drive circuit board fixed to the frame, and one of the drive circuit boards in the thickness direction is arranged. When the first direction is the first direction and the other direction of the thickness of the drive circuit board is the second direction, the motor drive unit arranged closest to the first direction supplies power to the drive circuit boards of the plurality of motor drive units. The main motor drive unit is provided with a power supply circuit board on which the power supply circuit is mounted. The remaining motor drive units excluding the main motor drive unit are the main motor drive unit. And a plurality of motor drive units from the main motor drive unit to the sub motor drive unit disposed on the most second direction side. Are arranged in the thickness direction of the drive circuit board so that the output capacity of the motor drive unit becomes smaller, and the drive circuit boards and power supply circuit boards of the plurality of motor drive units are adjacent to each other in the thickness direction of the drive circuit board The length of the wiring between the drive circuit board and the power supply circuit board of the motor drive unit arranged on the first direction side of the two motor drive units arranged is mutually in the thickness direction of the drive circuit board. Of the two motor drive units arranged adjacent to each other, the wiring between the drive circuit board and the power circuit board of the motor drive unit arranged on the second direction side To be shorter than is characterized by being electrically connected in parallel.

  In the motor drive device of the present invention, the plurality of motor drive units have a power circuit board and go from the main motor drive unit arranged closest to the first direction to the sub motor drive unit arranged closest to the second direction. Accordingly, the output capacity of the motor drive unit is arranged in the thickness direction of the drive circuit board so as to decrease. In the present invention, the drive circuit board and the power supply circuit board of the plurality of motor drive units are arranged on the first direction side of the two motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. The length of the wiring between the drive circuit board and the power supply circuit board of the motor drive unit to be driven is on the second direction side of the two motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. They are electrically connected in parallel so as to be shorter than the length of the wiring between the drive circuit board and the power supply circuit board of the arranged motor drive unit. Therefore, in the present invention, as the wiring distance from the power supply circuit board becomes longer, the current flowing through the wiring between the power supply circuit board and the drive circuit board can be effectively reduced. That is, according to the present invention, it is possible to reduce the current flowing through the portion of the wiring having a relatively large electric resistance while reducing the electric resistance of the portion of the wiring through which a relatively large current flows. Therefore, according to the present invention, it is possible to suppress a voltage drop between the power supply circuit board and the drive circuit board.

  Further, since the drive circuit board of a motor drive unit having a relatively large output capacity consumes a large amount of current, this drive circuit board generates a relatively large noise, but is hardly affected by the noise. On the other hand, the drive circuit board of a motor drive unit with a relatively small output capacity consumes less current, so the noise generated by this drive circuit board is relatively small, but this drive circuit board is affected by noise. Cheap. Further, in the wiring between the power supply circuit board and the drive circuit board, the noise generated by the wiring increases as the current flowing through the wiring increases. In the present invention, a plurality of motor drives are provided such that the output capacity of the motor drive unit decreases from the main motor drive unit arranged closest to the first direction toward the sub motor drive unit arranged closest to the second direction. Since the units are arranged in the thickness direction of the drive circuit board, a drive circuit board that is less susceptible to noise is placed near the drive circuit board of the motor drive unit that generates relatively large noise, and the generated noise It is possible to dispose a drive circuit board that is susceptible to noise in the vicinity of the drive circuit board of the motor drive unit with a relatively small value. In the present invention, as the wiring distance from the power supply circuit board becomes longer, the current flowing through the wiring between the power supply circuit board and the drive circuit board can be effectively reduced. The current that flows in the wiring near the drive circuit board that is not easily affected by the noise increases, but the current that flows in the wiring near the drive circuit board that is susceptible to noise decreases, and the current in the drive circuit board that is susceptible to noise decreases. Noise generated by nearby wiring is reduced. Therefore, according to the present invention, it is possible to reduce the influence of noise received by the drive circuit board.

  In the present invention, as the wiring distance from the power circuit board becomes longer, the current flowing through the wiring between the power circuit board and the drive circuit board can be effectively reduced. It is possible to make the wiring of the motor drive device thinner as it goes to the two directions.

  Further, in the present invention, the plurality of motor drive units are arranged such that the output capacity of the motor drive unit increases from the main motor drive unit arranged closest to the first direction toward the sub motor drive unit arranged closest to the second direction. Are arranged in the thickness direction of the drive circuit board so that the amount of heat is reduced, the amount of heat generated in each motor drive unit is directed from the main motor drive unit to the sub motor drive unit arranged closest to the second direction. Therefore, it becomes smaller. Therefore, according to the present invention, it is possible to centrally cool a motor drive unit having a relatively large amount of heat generation, and to cool a motor drive unit having a relatively small amount of heat generation as necessary.

  In the present invention, two power supply connector terminals to which a power supply cable can be connected are mounted on the drive circuit board. In the sub motor drive unit, one of the two power supply connector terminals is a drive circuit. It is preferably an input connector terminal for taking power into the board, and the other of the two power supply connector terminals is an output connector terminal for taking out power from the drive circuit board. With this configuration, the drive circuit board of the main motor drive unit and the drive circuit board of the sub motor drive unit can be electrically connected or disconnected easily. In addition, it becomes possible to electrically connect or disconnect the drive circuit boards between the sub motor drive units electrically.

  In this case, the motor driving device includes at least two or more sub motor driving units, and at least one of the two power supply connector terminals in the main motor driving unit extracts power from the driving circuit board. The main output connector terminal and the input connector terminal of the sub motor drive unit arranged adjacent to the second direction side of the main motor drive unit are connected via the power supply cable. Of the sub-motor drive unit disposed on the first direction side of the two sub-motor drive units disposed adjacent to each other in the thickness direction of the drive circuit board, and the drive circuit board Input connector for the sub motor drive unit arranged on the second direction side of the two sub motor drive units arranged adjacent to each other in the thickness direction It is preferred that the child is connected via a power supply cable. If comprised in this way, it will become possible to shorten the length of the power supply cable. Therefore, the power supply cable can be routed in an orderly manner.

  In the present invention, the motor drive device includes a plurality of second sub motor drive units configured similarly to the sub motor drive unit, and the plurality of second sub motor drive units are arranged in the thickness direction of the drive circuit board. In addition, in the vertical direction orthogonal to the thickness direction of the drive circuit board, it is arranged so as to overlap with the plurality of motor drive units arranged in the thickness direction of the drive circuit board, and is arranged on the most first direction side. The output capacity of the two sub motor drive units is less than or equal to the output capacity of the main motor drive unit, and the plurality of second sub motor drive units are the most from the second sub motor drive units arranged closest to the first direction. In the thickness direction of the drive circuit board, the output capacity of the second sub motor drive unit becomes smaller toward the second sub motor drive unit arranged on the second direction side. The drive circuit boards and the power supply circuit boards of the plurality of second sub-motor drive units arranged in a first direction of two second sub-motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board Of the second sub motor drive unit disposed on the side of the second sub motor drive unit, the length of the wiring between the drive circuit board and the power circuit board is adjacent to each other in the thickness direction of the drive circuit board The units are electrically connected in parallel so as to be shorter than the length of the wiring between the drive circuit board and the power supply circuit board of the second sub motor drive unit arranged on the second direction side of the unit. Is preferred.

  With this configuration, the installation area of the motor drive device can be reduced as compared with the case where the plurality of motor drive units and the plurality of second sub motor drive units are arranged in the thickness direction of the drive circuit board. Is possible. Further, with this configuration, as the wiring distance from the power supply circuit board becomes longer, the current flowing through the wiring between the drive circuit board of the second sub motor drive unit and the power supply circuit board is effectively reduced. It becomes possible to go. That is, while reducing the electrical resistance of the portion where the relatively large current flows in the wiring between the drive circuit board and the power circuit board of the second sub motor drive unit, the drive circuit board and the power source of the second sub motor drive unit are reduced. It is possible to reduce a current flowing through a portion having a relatively large electric resistance in the wiring between the circuit board and the circuit board. Therefore, even if the plurality of motor drive units and the plurality of second sub motor drive units are arranged so as to overlap in the vertical direction, the voltage drop between the drive circuit board and the power supply circuit board of the second sub motor drive unit Can be suppressed.

  Also, with this configuration, the motor drive unit and the second sub motor drive unit that are less susceptible to noise are located near the drive circuit board of the motor drive unit and the second sub motor drive unit that generate relatively large noise. The drive circuit board is disposed, and the motor drive unit and the second sub motor drive unit that are susceptible to noise are located near the drive circuit board of the motor drive unit and the second sub motor drive unit that generate relatively small noise. It becomes possible to arrange the drive circuit board. Further, as the wiring distance from the power circuit board becomes longer, the current flowing through the wiring between the drive circuit board and the power circuit board of the second sub motor drive unit can be effectively reduced. Therefore, the current flowing through the wiring near the drive circuit board of the second sub motor drive unit that is not easily affected by noise increases, but the wiring near the drive circuit board of the second sub motor drive unit that is easily affected by noise. The current flowing through is reduced, and the noise generated by the wiring near the drive circuit board of the second sub motor drive unit that is susceptible to noise is reduced. Therefore, even if the plurality of motor drive units and the plurality of second sub motor drive units are arranged so as to overlap in the vertical direction, it is possible to reduce the influence of noise received by the drive circuit board.

  Also, with this configuration, the power circuit board and the drive circuit board are compared with the case where the plurality of motor drive units and the plurality of second sub motor drive units are arranged in the thickness direction of the drive circuit board. It is possible to suppress the voltage drop between the two and the influence of noise received by the drive circuit board.

  In the present invention, two power supply connector terminals to which a power supply cable can be connected are mounted on the drive circuit board. In the main motor drive unit, the two power supply connector terminals are connected to the drive circuit board. This is a main output connector terminal for taking out electric power. In the sub motor drive unit and the second sub motor drive unit, one of the two power supply connector terminals is an input for taking power into the drive circuit board. Preferably, the other of the two power supply connector terminals is an output connector terminal for extracting power from the drive circuit board. With this configuration, the drive circuit board of the main motor drive unit and the drive circuit board of the sub motor drive unit can be electrically connected or disconnected easily, and the drive circuit boards of the sub motor drive units can be electrically connected. Therefore, it is possible to easily connect and disconnect, and to electrically connect and disconnect the drive circuit boards between the second sub motor drive units.

  In this case, the motor driving device includes at least two or more sub motor driving units, and is disposed adjacent to one of the two main output connector terminals on the second direction side of the main motor driving unit. A second sub-motor drive unit that is connected to the input connector terminal of the sub-motor drive unit via a power supply cable and that is disposed on the other side of the two main output connector terminals and in the first direction side. The sub-motor disposed on the first direction side of the two sub-motor drive units that are connected to each other via the power supply cable and are disposed adjacent to each other in the thickness direction of the drive circuit board Sub-motor drive unit arranged on the second direction side of the two sub-motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board and the output connector terminal of the drive unit The input connector terminal is connected to the power supply cable via a power supply cable, and is disposed on the first direction side of the two second sub motor drive units disposed adjacent to each other in the thickness direction of the drive circuit board. The output terminal of the two sub motor drive unit and the second sub motor drive arranged on the second direction side of the two second sub motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. It is preferable that the input connector terminal of the unit is connected via a power supply cable. If comprised in this way, it will become possible to shorten the length of the power supply cable. Therefore, the power supply cable can be routed in an orderly manner.

  In the present invention, the plurality of motor drive units arranged in the thickness direction of the drive circuit board are preferably in close contact with each other. If comprised in this way, it will become possible to narrow the installation space of a motor drive device.

  In the present invention, a fan for cooling the drive circuit board of the main motor drive unit is attached to the side surface on the second direction side of the frame of the main motor drive unit, and is arranged adjacent to the main motor drive unit in the second direction side. It is preferable that the drive circuit board of the sub motor drive unit is disposed so as to face the intake side or the exhaust side of the fan from the second direction side. If comprised in this way, it will become possible to cool efficiently the heat-emitting component of the main motor drive unit with the largest calorific value using a fan. Also, with this configuration, when the fan attached to the frame of the main motor drive unit rotates, air flows around the drive circuit board of the sub motor drive unit that is disposed adjacent to the main motor drive unit in the second direction. As a result, the drive circuit board can be cooled. Therefore, even if the sub motor drive unit disposed adjacent to the main motor drive unit in the second direction is not provided with a fan, the fan of the main motor drive unit is mounted on the drive circuit board of the sub motor drive unit. It is possible to cool the heat generating parts.

  As described above, according to the present invention, in a motor drive device including a plurality of motor drive units having different output capacities, a drive circuit board on which a motor drive circuit and a control circuit are mounted and a power supply circuit on which a power supply circuit is mounted It becomes possible to suppress a voltage drop between the circuit board and the influence of noise received by the drive circuit board.

It is a front view of the motor drive device concerning an embodiment of the invention. FIG. 2 is a bottom view of a part of the motor drive device shown in FIG. 1. It is a perspective view which shows the sub motor drive unit arrange | positioned adjacent to the main motor drive unit and main motor drive unit which are shown in FIG. It is a perspective view of the state which isolate | separated the main motor drive unit and submotor drive unit which are shown in FIG. It is a perspective view which shows the main motor drive unit and submotor drive unit which are shown in FIG. 4 from another direction. FIG. 5 is a perspective view of the main motor drive unit shown in FIG. 4 with a cover member removed. FIG. 6 is a perspective view of a state in which a cover member is removed from the main motor drive unit shown in FIG. 5. It is a schematic diagram for demonstrating the electrical connection relation of the power supply circuit board and drive circuit board | substrate in the motor drive device shown in FIG. It is a table | surface for demonstrating the effect of the motor drive device shown in FIG. It is a front view of the motor drive device concerning other embodiments of the present invention. It is a schematic diagram for demonstrating the electrical connection relation of the power supply circuit board and drive circuit board | substrate in the motor drive device shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Configuration of motor drive device)
FIG. 1 is a front view of a motor drive device 1 according to an embodiment of the present invention. FIG. 2 is a bottom view of a part of the motor drive device 1 shown in FIG. FIG. 3 is a perspective view showing the motor drive unit 2A and the motor drive unit 2B shown in FIG. FIG. 4 is a perspective view of the motor drive unit 2A and the motor drive unit 2B shown in FIG. 3 separated from each other. FIG. 5 is a perspective view showing the motor drive units 2A and 2B shown in FIG. 4 from another direction. 6 is a perspective view of the motor drive unit 2A shown in FIG. 4 with the cover member 8 removed. FIG. 7 is a perspective view of the motor drive unit 2A shown in FIG. 5 with the cover member 10 removed. FIG. 8 is a schematic diagram for explaining an electrical connection relationship between the power supply circuit board 7 and the drive circuit board 3 in the motor drive device 1 shown in FIG.

  In the following description, each of the three directions orthogonal to each other is defined as an X direction, a Y direction, and a Z direction. The X direction is the left-right direction, the Y direction is the front-rear direction, and the Z direction is the up-down direction. Furthermore, the X1 direction side is the “right” side, the X2 direction side is the “left” side, the Y1 direction side is the “front” side, the Y2 direction side is the “rear (back)” side, the Z1 direction side is the “upper” side, The Z2 direction side is the “lower” side.

  The motor drive device 1 of this embodiment is a device for driving and controlling an industrial servo motor (not shown), and includes a plurality of motor drive units 2 for driving and controlling one servo motor. . That is, the motor drive device 1 is configured by a plurality of motor drive units 2. The motor drive device 1 includes, for example, six motor drive units 2. The motor drive device 1 is used by being attached to a control panel or the like of a host device (not shown) on which the motor drive device 1 is mounted. In this embodiment, the motor drive device 1 is arranged so that the vertical direction (Z direction) coincides with the vertical direction (the direction of gravity).

  The six motor drive units 2 are arranged in the left-right direction. Specifically, the six motor drive units 2 are adjacently arranged so as to contact each other in the left-right direction. In this embodiment, adjacent motor drive units 2 are in close contact with each other. The motor drive unit 2 includes a drive circuit board 3 (see FIGS. 4 and 6) on which a servo motor drive circuit (inverter circuit) and a control circuit are mounted, a frame 4 on which the drive circuit board 3 is fixed, a frame 4 is provided with a panel 5 fixed to the front end of 4 and a cover member 6 (see FIG. 2) fixed to the lower end of the frame 4. The drive circuit board 3 is a rigid board formed in a substantially rectangular flat plate shape.

  The leftmost motor drive unit 2 includes a power supply circuit board 7 (see FIG. 6) on which a power supply circuit for supplying power to the drive circuit boards 3 of the plurality of motor drive units 2 is mounted. Yes. That is, the leftmost motor drive unit 2 includes a power supply circuit board 7 on which power supply circuits for supplying power to the six drive circuit boards 3 of the motor drive device 1 are mounted. The five motor drive units 2 do not include the power circuit board 7. The leftmost motor drive unit 2 includes a cover member 8 that covers the drive circuit board 3 and the power supply circuit board 7 and a fan 9 for cooling the drive circuit board 3 of the motor drive unit 2 (FIG. 7). And a cover member 10 that covers the fan 9. The power supply circuit board 7 is a rigid board formed in a substantially rectangular flat plate shape.

  In this embodiment, the motor drive unit 2 arranged on the leftmost side is a main motor drive unit including the power circuit board 7. The remaining five motor drive units 2 excluding the motor drive unit 2 are sub motor drive units including a drive circuit board 3 to which power is supplied from the power supply circuit board 7 of the main motor drive unit. In the following description, when the main motor drive unit and the sub motor drive unit are distinguished from each other, the main motor drive unit is referred to as a motor drive unit 2A, and the sub motor drive units are referred to as motor drive units 2B to 2F. The motor drive units 2B to 2F are arranged in this order from the left side, and the motor drive unit 2F is arranged on the rightmost side.

  Further, in the present embodiment, the six motor drive units 2 are arranged in the left-right direction so that the capacity of the motor driven by the motor drive unit 2 decreases from the motor drive unit 2A toward the motor drive unit 2F. ing. That is, the motor drive units 2A to 2F are arranged in the left-right direction so that the output capacity of the motor drive unit 2 decreases as it goes from the motor drive unit 2A to the motor drive unit 2F (toward the right side). That is, the output capacity of the motor drive unit 2F is smaller than the output capacity of the motor drive unit 2A, and the motor drive unit is arranged on the right side of the two motor drive units 2 that are adjacently arranged in the left-right direction. The motor drive unit 2 having an output capacity of 2 is arranged on the left side of the motor drive unit 2 (that is, the motor drive unit 2 arranged on the left side of the two motor drive units 2 arranged adjacently in the left-right direction). The six motor drive units 2 are arranged in the left-right direction so as to be less than the output capacity.

  For example, the output capacity of the motor drive unit 2A is 1.2 kW, the output capacity of the motor drive unit 2B is 800 W, the output capacity of the motor drive unit 2C is 400 W, the output capacity of the motor drive unit 2D is 200 W, and the output of the motor drive unit 2E The capacity is 100 W, and the output capacity of the motor drive unit 2F is 50 W. That is, the output capacities of the motor drive units 2A to 2E decrease in order toward the right side. Alternatively, for example, the output capacity of the motor drive unit 2A is 1.2 kW, the output capacity of the motor drive units 2B and 2C is 800 W, and the output capacity of the motor drive units 2D to 2F is 400 W.

  The frame 4 is formed of a heat radiating material having heat radiating properties such as an aluminum alloy. The frame 4 is formed in a substantially rectangular flat plate shape and is arranged so as to be orthogonal to the left-right direction, a substantially flat back surface portion 4 b constituting the back surface of the frame 4, and an upper end surface of the frame 4. And a substantially flat upper surface portion 4c. The back surface portion 4b is disposed so as to be orthogonal to the front-rear direction, and the upper surface portion 4c is disposed so as to be orthogonal to the vertical direction. The back surface portion 4b protrudes from the rear end of the base portion 4a to the left side, and the upper surface portion 4c protrudes from the upper end of the base portion 4a to the left side. The frames 4 of the motor drive units 2A to 2F are formed in substantially the same manner although the width in the left-right direction may be different.

  The drive circuit board 3 is fixed to the left side surface of the base portion 4a. On the right side surface of the base portion 4a, a heat radiating portion 4e for radiating the heat of the drive circuit board 3 fixed to the left side surface of the base portion 4a is formed. The heat radiating part 4e is constituted by a plurality of fins for heat dissipation. The back surface portion 4b is formed with an insertion hole through which a screw for fixing the motor driving device 1 to a control panel or the like of the host device is inserted. The upper surface portion 4c is formed with a plurality of vent holes 4f penetrating the upper surface portion 4c in the vertical direction. The vent 4f is formed so as to be cut out from the left end of the upper surface portion 4c toward the right side, and the shape of the vent 4f when viewed from above and below is an elongated, substantially U shape. The plurality of vents 4f are arranged in the front-rear direction.

  The drive circuit board 3 is fixed to the left side surface of the base portion 4a so that the thickness direction and the left-right direction substantially coincide with each other. The left-right direction (X direction) of this embodiment is the thickness direction of the drive circuit board 3, and the motor drive units 2A to 2F are arranged so that the thickness direction of the drive circuit board 3 coincides with the horizontal direction. . Further, the left direction (X2 direction) of the present embodiment is a first direction that is one of the thickness directions of the drive circuit board 3, and the right direction (X1 direction) is the other direction of the thickness of the drive circuit board 3. It is a certain second direction.

  Various electronic components are mounted on the drive circuit board 3. In this embodiment, a heat-generating component such as a driver IC is mounted on the left surface of the drive circuit board 3. Various connector terminals to which a cable or the like drawn from the servo motor is connected are mounted on the front end side of the drive circuit board 3. Also, as shown in FIGS. 2 and 8, two connector terminals 13 and 14 to which a power supply cable (power supply cable) 12 can be connected are mounted on the lower end side of the drive circuit board 3. Yes. In the motor drive unit 2 </ b> A, the connector terminals 13 and 14 are output connector terminals for taking out electric power from the drive circuit board 3. On the other hand, in the motor drive units 2B to 2F, the connector terminal 13 is an input connector terminal for taking power into the drive circuit board 3, and the connector terminal 14 is an output connector for taking out power from the drive circuit board 3. Terminal. In this embodiment, the connector terminals 13 and 14 of the motor drive unit 2A are main output connector terminals.

  A connector terminal 15 for supplying electric power to an external fan (not shown) disposed outside the motor drive units 2A to 2F is mounted on the lower end side of the drive circuit board 3. An external fan power supply cable for supplying power to the external fan can be connected to the connector terminal 15. A connector terminal 16 for supplying power to the fan 9 is mounted on the right surface of the drive circuit board 3. A fan power supply cable for supplying power to the fan 9 can be connected to the connector terminal 16.

  The connector terminals 13 to 15 are mounted on the front end side of the drive circuit board 3. Further, as described above, the connector terminals 13 to 15 are mounted on the lower end side of the drive circuit board 3, and the connector terminals 13 to 15 are disposed on the bottom surfaces of the motor drive units 2A to 2F. The connector terminals 13 and 14 are mounted on the drive circuit board 3 so that the power supply cable 12 is inserted from the bottom side of the motor drive units 2A to 2F. Similarly, the connector terminal 15 is mounted on the drive circuit board 3 so that an external fan power supply cable is inserted from the bottom side of the motor drive units 2A to 2F. The connector terminal 16 is arrange | positioned at the right side surface of the base part 4a, as shown in FIG. The connector terminal 16 is mounted on the drive circuit board 3 so that a fan power supply cable is inserted from the right side of the motor drive unit 2A.

  The power circuit board 7 is arranged on the left side of the drive circuit board 3 of the motor drive unit 2A. A support column rising to the left side is fixed to the left side surface of the base portion 4a of the motor drive unit 2A, and the power circuit board 7 is fixed to the left end surface of the support column with screws. The power supply circuit board 7 is disposed so that the thickness direction and the left-right direction substantially coincide. Various electronic components are mounted on the power circuit board 7. A connector terminal to which a cable drawn from the AC power supply is connected is mounted on the front end side of the power circuit board 7.

  The fan 9 is an axial fan. The fan 9 is attached to the heat radiating portion 4e of the motor drive unit 2A (that is, the right side surface of the frame 4 of the motor drive unit 2A). The fan 9 is fixed to the rear end side or the center of the heat radiating part 4e and is fixed to the center of the heat radiating part 4e in the vertical direction. The fan 9 is fixed to the heat radiating part 4e with screws. Further, the fan 9 is fixed to the heat radiating portion 4e of the motor drive unit 2A so that the axial direction thereof matches the left-right direction. Moreover, the fan 9 is arrange | positioned so that air may be suck | inhaled from the right side and discharged | emitted to the left side. That is, the intake side of the fan 9 is disposed on the right side, and the exhaust side of the fan 9 is disposed on the left side. The fan 9 is connected to the connector terminal 16 via a fan power supply cable (not shown). The fan 9 can also be attached to the right side surface of the frame 4 of the motor drive units 2B to 2F.

  The panel 5 of the motor drive unit 2A is formed with an opening for exposing a connector terminal fixed to the front end side of the drive circuit board 3 and a connector terminal fixed to the front end side of the power circuit board 7. Yes. The panel 5 of the motor drive units 2B to 2F is formed with an opening for exposing a connector terminal fixed to the front end side of the drive circuit board 3. A console is arranged on the upper end side of the panel 5.

  The cover member 6 of the motor drive unit 2A covers the lower ends of the drive circuit board 3, the frame 4, and the power supply circuit board 7. The cover members 6 of the motor drive units 2B to 2F cover the lower ends of the drive circuit board 3 and the frame 4. As shown in FIG. 2, the cover member 6 is formed with openings for exposing the connector terminals 13 to 15. Further, the cover member 6 is formed with a plurality of vent holes 6a penetrating the cover member 6 in the vertical direction. The vent 6a is formed in an oval shape elongated in the left-right direction. The plurality of vent holes 6a are formed on the rear end side of the cover member 6 and are arranged in the front-rear direction.

  The cover member 8 is fixed to the left end side of the frame 4 of the motor drive unit 2A. The cover member 8 covers the drive circuit board 3 and the power supply circuit board 7 from the left side. The cover member 10 is fixed to the right side surface of the frame 4 of the motor drive unit 2A. The cover member 10 covers the fan 9 from the right side. As shown in FIG. 5, a plurality of vent holes 10 a penetrating the cover member 10 in the left-right direction are formed at locations corresponding to the fan 9 of the cover member 10. The vent 10a is formed in a substantially arc shape, and the plurality of vents 10a are arranged in an annular shape.

  As described above, the motor drive units 2A to 2F are adjacently arranged so as to contact each other in the left-right direction. Specifically, the right side surface of the cover member 10 of the motor drive unit 2A, the left end surface of the upper surface portion 4c of the motor drive unit 2B, and the left end surface of the cover member 6 are in contact with each other, and the motor drive units 2B˜ The motor drive units 2A to 2F are arranged adjacent to each other so that the right end surface of the heat radiating portion 4e of 2E contacts the left end surface of the upper surface portion 4c of the motor drive units 2C to 2F and the left end surface of the cover member 6.

  In the motor drive unit 2A, the drive circuit board 3 and the power supply circuit board 7 are electrically connected by a cable or the like (not shown) so that power is supplied from the power supply circuit board 7 to the drive circuit board 3. . Further, the connector terminal 13 or the connector terminal 14 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2B are connected via the power supply cable 12. In this embodiment, the connector terminal 14 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2B are connected via the power supply cable 12. The connector terminal 14 of the motor drive unit 2B and the connector terminal 13 of the motor drive unit 2C are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2C and the connector terminal 13 of the motor drive unit 2D are connected to each other. Are connected via the power supply cable 12, the connector terminal 14 of the motor drive unit 2D and the connector terminal 13 of the motor drive unit 2E are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2E. And a connector terminal 13 of the motor drive unit 2F are connected via a power supply cable 12. That is, the output connector terminals of the motor drive units 2B to 2E arranged on the left side of the two motor drive units 2B to 2F arranged adjacent to each other in the left-right direction and the two arranged adjacent to each other in the left-right direction The motor drive units 2C to 2F arranged on the right side of the motor drive units 2B to 2F are connected to input connector terminals via the power supply cable 12.

  The power supply circuit board 7 and the six drive circuit boards 3 are electrically connected in parallel (see FIG. 8). In this embodiment, the length of the wiring (the length of the electrical path) between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2A, the drive circuit board 3 of the motor drive unit 2B, and the power supply circuit The length of the wiring between the board 7, the length of the wiring between the driving circuit board 3 and the power circuit board 7 of the motor driving unit 2 C, and the driving circuit board 3 and the power circuit board 7 of the motor driving unit 2 D Between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2F, and between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2F. The length of the wiring gradually becomes longer in this order.

  That is, the drive circuit board 3 and the power supply circuit board 7 of the six motor drive units 2 are the left side of the two motor drive units 2 arranged adjacent to each other in the left-right direction. The drive circuit board of the motor drive unit 2 arranged on the right side of the two motor drive units 2 in which the length of the wiring between the drive circuit board 3 and the power supply circuit board 7 is arranged adjacent to each other in the left-right direction. 3 and the power supply circuit board 7 are electrically connected in parallel so as to be shorter than the length of the wiring.

  A gap is formed between the right side surface of the cover member 10 and the drive circuit board 3 of the motor drive unit 2B. The drive circuit board 3 of the motor drive unit 2B is arranged on the right side of the fan 9. That is, the drive circuit board 3 of the motor drive unit 2B is disposed so as to face the intake side of the fan 9 from the right side. Specifically, the portion where the heat generating component of the drive circuit board 3 of the motor drive unit 2B is mounted is disposed so as to directly face the intake side of the fan 9 from the right side. The vent 4f of the frame 4 of the motor drive unit 2B and the vent 6a of the cover member 6 of the motor drive unit 2B are arranged on the left side of the drive circuit board 3 of the motor drive unit 2B in the left-right direction.

  In this embodiment, when the fan 9 rotates, air is taken in from the vent holes 4f and 6a of the motor drive unit 2B as shown by an arrow V1 in FIG. Is sent toward the heat radiation part 4e of the motor drive unit 2A. That is, the fan 9 takes in air from the vents 4f and 6a of the motor drive unit 2B and sends the air toward the heat dissipation part 4e of the motor drive unit 2A, thereby cooling the heat dissipation part 4e. The air sent toward the heat radiating portion 4e of the motor drive unit 2A hits the right side surface of the base portion 4a of the motor drive unit 2A, and then flows in the vertical direction along the right side surface of the base portion 4a. As shown by the arrow V2 of FIG. Further, in this embodiment, when the fan 9 rotates, air is taken in from the vent holes 4f and 6a of the motor drive unit 2B, so that air flows around the drive circuit board 3 of the motor drive unit 2B.

  Air taken in from the vents 4 f and 6 a passes through the vent 10 a of the cover member 10 and is sucked into the fan 9. In addition, an external fan is installed to cool the drive circuit board 3 of the motor drive units 2C to 2F in accordance with the amount of heat generated by the motor drive units 2C to 2F. For example, an external fan is disposed below the four motor drive units 2C to 2F, and the external fan sends air upward.

(Main effects of this form)
As described above, in the present embodiment, the six motor drive units 2 are arranged in the left-right direction so that the output capacity of the motor drive unit 2 decreases from the motor drive unit 2A toward the motor drive unit 2F. ing. For this reason, in this embodiment, the current flowing through the drive circuit board 3 of each motor drive unit 2 (current consumption of the drive circuit board 3) decreases from the motor drive unit 2A toward the motor drive unit 2F. In this embodiment, the drive circuit board 3 and the power supply circuit board 7 of the six motor drive units 2 are arranged on the left side of the two motor drive units 2 arranged adjacent to each other in the left-right direction. The length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the drive unit 2 is the motor drive unit 2 arranged on the right side of the two motor drive units 2 arranged adjacent to each other in the left-right direction. The drive circuit board 3 and the power supply circuit board 7 are electrically connected in parallel so as to be shorter than the length of the wiring. Therefore, in this embodiment, power supply is performed from the power supply cable 12 between the motor drive unit 2A and the motor drive unit 2B toward the power supply cable 12 between the motor drive unit 2E and the motor drive unit 2F. It is possible to effectively reduce the current flowing through the cable 12.

  That is, for example, schematically, the current flowing through the drive circuit board 3 of the motor drive unit 2B is “5”, the current flowing through the drive circuit board 3 of the motor drive unit 2C is “4”, and the motor drive unit 2D is driven. If the current flowing through the circuit board 3 is “3”, the current flowing through the drive circuit board 3 of the motor drive unit 2E is “2”, and the current flowing through the drive circuit board 3 of the motor drive unit 2F is “1”, In the embodiment, as shown in FIG. 9A, the current flowing through the power supply cable 12 between the motor drive unit 2A and the motor drive unit 2B is “15”, and the motor drive unit 2B and the motor drive unit 2C The current flowing through the power supply cable 12 between the two is “10” and is used for power supply between the motor drive unit 2C and the motor drive unit 2D. The current flowing through the cable 12 is “6”, the current flowing through the power supply cable 12 between the motor drive unit 2D and the motor drive unit 2E is “3”, and between the motor drive unit 2E and the motor drive unit 2F. The current flowing through the power supply cable 12 is “1”.

  On the other hand, for example, when the motor drive units 2B to 2F are arranged in the left-right direction so that the output capacity of the motor drive unit 2 increases from the motor drive unit 2B toward the motor drive unit 2F. As shown in FIG. 9B, the current flowing through the power supply cable 12 between the motor drive unit 2A and the motor drive unit 2B is “15”, and the motor drive unit 2B and the motor drive unit 2C The current flowing in the power supply cable 12 between them is “14”, and the current flowing in the power supply cable 12 between the motor drive unit 2C and the motor drive unit 2D is “12”, and the motor drive unit 2D and the motor drive The current flowing through the power supply cable 12 to and from the unit 2E is “9”, and the motor drive unit Tsu DOO 2E and the current flowing through the power supply cable 12 between the motor drive unit 2F is "5".

  Further, for example, the connector terminal 14 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2F farthest from the motor drive unit 2A are connected via the power supply cable 12, and the connector terminal of the motor drive unit 2F. 14 and the connector terminal 13 of the motor drive unit 2E are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2E and the connector terminal 13 of the motor drive unit 2D are connected via the power supply cable 12. The connector terminal 14 of the motor drive unit 2D and the connector terminal 13 of the motor drive unit 2C are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2C and the connector terminal 13 of the motor drive unit 2B are connected. And power supply cable 1 When connected via the, the current flowing through the power supply cable 12 between the motor drive unit 2, as shown in FIG. 9 (C).

  As described above, in this embodiment, as the power supply cable 12 between the motor drive unit 2A and the motor drive unit 2B moves toward the power supply cable 12 between the motor drive unit 2E and the motor drive unit 2F, the motor The current flowing in the power supply cable 12 between the drive units 2 can be effectively reduced. That is, in this embodiment, as the wiring distance from the power supply circuit board 7 becomes longer, the current flowing through the wiring between the power supply circuit board 7 and the drive circuit board 3 can be effectively reduced. . Therefore, in this embodiment, it is possible to reduce the current flowing through the portion of the wiring having a relatively large electric resistance while reducing the electric resistance of the portion of the wiring through which the relatively large current flows. A voltage drop between the circuit board 7 and the drive circuit board 3 can be suppressed.

  Further, since the drive circuit board 3 of the motor drive unit 2 having a relatively large output capacity consumes a large amount of current, this drive circuit board 3 generates a relatively large noise, but is not easily affected by the noise. On the other hand, the drive circuit board 3 of the motor drive unit 2 having a relatively small output capacity consumes less current, so that the noise generated by the drive circuit board 3 is relatively small. Susceptible to. Further, in the wiring between the power supply circuit board 7 and the drive circuit board 3, the noise generated by the wiring increases as the current flowing through the wiring increases. In the present embodiment, since the motor drive unit 2 is arranged in the left-right direction so that the output capacity of the motor drive unit 2 becomes smaller from the motor drive unit 2A toward the motor drive unit 2F, the motor drive unit 2 that generates relatively large noise. The drive circuit board 3 that is not easily affected by noise is disposed near the drive circuit board 3 of the motor, and the noise generated is relatively close to the drive circuit board 3 of the motor drive unit 2 that is susceptible to noise. The drive circuit board 3 can be arranged. Further, in this embodiment, as the wiring distance from the power circuit board 7 becomes longer, the current flowing through the wiring between the power circuit board 7 and the drive circuit board 3 can be effectively reduced. Therefore, the current flowing through the wiring near the drive circuit board 3 that is not easily affected by noise increases, but the current flowing through the wiring near the drive circuit board 3 that is easily affected by noise decreases and is affected by the noise. Noise that is easily generated by wiring near the drive circuit board 3 is reduced. Therefore, in this embodiment, it is possible to reduce the influence of noise received by the drive circuit board 3.

  Further, in this embodiment, as the wiring distance from the power circuit board 7 becomes longer, the current flowing through the wiring between the power circuit board 7 and the drive circuit board 3 can be effectively reduced. Therefore, the power supply cable 12 can be made thinner as it goes to the right.

  In the present embodiment, since the six motor drive units 2 are arranged in the left-right direction so that the output capacity of the motor drive unit 2 decreases as it goes from the motor drive unit 2A to the motor drive unit 2F, The amount of heat generated in each motor drive unit 2 decreases from the motor drive unit 2A toward the motor drive unit 2F. However, the fan 9 is installed in the motor drive unit 2A and the heat generation amount of the motor drive units 2C to 2F. An external fan is installed according to the situation. Therefore, in this embodiment, it is possible to intensively cool the motor drive unit 2 having a relatively large heat generation amount using the fan 9 or the external fan, and the motor drive unit 2 having a relatively small heat generation amount is necessary. It becomes possible to cool according to.

  In this embodiment, two motor drive units in which the connector terminal 14 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2B are connected via the power supply cable 12 and are arranged adjacent to each other in the left-right direction. Motors disposed on the right side of the two motor drive units 2B to 2F disposed adjacent to each other in the left-right direction and the output connector terminals of the motor drive units 2B to 2E disposed on the left side of 2B to 2F The input connector terminals of the drive units 2 </ b> C to 2 </ b> F are connected via the power supply cable 12. Therefore, in this embodiment, the length of the power supply cable 12 is made longer than the case where the motor drive unit 2A and each of the five motor drive units 2B to 2F are connected via the power supply cable 12. It can be shortened. Therefore, in this embodiment, the power supply cable 12 can be routed in an orderly manner.

  In this embodiment, the fan 9 is attached to the right side surface of the frame 4 of the motor drive unit 2A. When the fan 9 rotates, the air taken in from the vent holes 4f and 6a is directed to the heat radiating portion 4e of the motor drive unit 2A. The air flows around the drive circuit board 3 of the motor drive unit 2B. Therefore, in this embodiment, the drive circuit board 3 fixed to the base portion 4a of the motor drive unit 2A can be cooled via the heat dissipation portion 4e by the air sent toward the heat dissipation portion 4e of the motor drive unit 2A. At the same time, the drive circuit board 3 of the motor drive unit 2B can be cooled by the flow of air generated around the drive circuit board 3 of the motor drive unit 2B. Therefore, in this embodiment, it is possible to cool the heat generating component of the motor drive unit 2A and the heat generating component of the motor drive unit 2B using the common fan 9.

  In this embodiment, the six motor drive units 2 arranged in the left-right direction are in close contact with each other. Therefore, in this embodiment, the installation space for the motor driving device 1 can be reduced.

(Modification of motor drive device)
FIG. 10 is a front view of a motor drive device 1 according to another embodiment of the present invention. FIG. 11 is a schematic diagram for explaining an electrical connection relationship between the power supply circuit board 7 and the drive circuit board 3 in the motor drive device 1 shown in FIG.

  In the embodiment described above, when the number of motor drive units 2 included in the motor drive device 1 further increases, the plurality of motor drive units 2 are arranged in two stages in order to reduce the installation area of the motor drive device 1. May be. For example, as shown in FIG. 10, the motor drive device 1 includes six motor drive units 2G to 2L configured similarly to the motor drive units 2B to 2F, and the six motor drive units 2G to 2L include Alternatively, they may be disposed adjacent to each other in the left-right direction and may be disposed so as to overlap with the six motor drive units 2A to 2F in the vertical direction. In the example shown in FIG. 10, the motor drive units 2G to 2L are disposed below the motor drive units 2A to 2F. The motor drive units 2G to 2L in this case are second sub motor drive units. Motor drive units 2G-2L may be arranged above motor drive units 2A-2F.

  The six motor drive units 2G to 2L are arranged in this order from the left side. The capacity of the motor driven by the motor drive unit 2G is equal to or less than the capacity of the motor driven by the motor drive unit 2A. That is, the output capacity of the motor drive unit 2G is equal to or less than the output capacity of the motor drive unit 2A, and the six motor drive units 2G to 2L increase from the motor drive unit 2G toward the motor drive unit 2L. The motors driven by the motor drive units 2G to 2L are arranged in the left-right direction so that the capacity of the motors is reduced (so that the output capacity of the motor drive units 2G to 2L is reduced). That is, the output capacity of the motor drive unit 2L is smaller than the output capacity of the motor drive unit 2G, and the motor is disposed on the right side of the two motor drive units 2G to 2L that are adjacently disposed in the left-right direction. The six motor drive units 2G to 2L are arranged in the left-right direction so that the output capacity of the drive units 2G to 2K is equal to or less than the output capacity of the motor drive units 2H to 2L arranged on the left side of the motor drive unit 2. ing. The motor drive unit 2G includes a cover member 8.

  The connector terminal 13 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2G are connected via the power supply cable 12. The connector terminal 14 of the motor drive unit 2G and the connector terminal 13 of the motor drive unit 2H are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2H and the connector terminal 13 of the motor drive unit 2I are connected to each other. Are connected via the power supply cable 12, the connector terminal 14 of the motor drive unit 2I and the connector terminal 13 of the motor drive unit 2J are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2J. And the connector terminal 13 of the motor drive unit 2K are connected via the power supply cable 12, and the connector terminal 14 of the motor drive unit 2K and the connector terminal 13 of the motor drive unit 2L are connected via the power supply cable 12. Has been. That is, the output connector terminals of the motor drive units 2G to 2K arranged on the left side of the two motor drive units 2G to 2L arranged adjacent to each other in the left-right direction and the two arranged adjacent to each other in the left-right direction The input connector terminals of the motor drive units 2H to 2L arranged on the right side of the motor drive units 2G to 2L are connected via the power supply cable 12.

  The drive circuit board 3 and the power supply circuit board 7 of the motor drive units 2G to 2L are electrically connected in parallel (see FIG. 11). Further, the length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2A, the length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2G, the motor drive The length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the unit 2H, the length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the motor drive unit 2I, and the driving of the motor drive unit 2J The length of wiring between the circuit board 3 and the power circuit board 7, the length of wiring between the driving circuit board 3 of the motor drive unit 2K and the power circuit board 7, and the drive circuit board of the motor drive unit 2L The length of the wiring between the power supply circuit board 7 and the power supply circuit board 7 is gradually increased in this order.

  That is, the drive circuit board 3 and the power supply circuit board 7 of the six motor drive units 2G to 2L are arranged on the left side of the two motor drive units 2G to 2L arranged adjacent to each other in the left-right direction. The length of the wiring between the drive circuit board 3 and the power supply circuit board 7 of the drive units 2G to 2K is arranged on the right side of the two motor drive units 2G to 2L arranged adjacent to each other in the left-right direction. The motor drive units 2H to 2L are electrically connected in parallel so as to be shorter than the length of the wiring between the drive circuit board 3 and the power supply circuit board 7.

  10 and 11, an external fan is installed to cool the drive circuit board 3 of the motor drive units 2G to 2L in accordance with the amount of heat generated by the motor drive units 2G to 2L. The

  In the motor drive device 1 shown in FIGS. 10 and 11, the drive circuit board 3 and the power supply circuit board 7 of the motor drive units 2 </ b> G to 2 </ b> L are increased as the wiring distance from the power supply circuit board 7 is increased as in the above-described embodiment. Therefore, it is possible to effectively reduce the current flowing in the wiring between the wiring and the wiring, and the wiring has a relatively large electric resistance while reducing the electric resistance of the portion where the relatively large current flows. It becomes possible to reduce the current flowing through the portion. Therefore, even if the motor drive units 2A to 2F and the motor drive units 2G to 2L are arranged so as to overlap in the vertical direction, the voltage between the drive circuit board 3 and the power supply circuit board 7 of the motor drive units 2G to 2L. It is possible to suppress the descent.

  Further, in the motor drive device 1 shown in FIGS. 10 and 11, as in the above-described embodiment, a drive circuit that is less susceptible to noise is located near the drive circuit board 3 of the motor drive unit 2 that generates relatively large noise. By disposing the substrate 3, it becomes possible to dispose the drive circuit substrate 3 that is easily affected by noise in the vicinity of the drive circuit substrate 3 of the motor drive unit 2 that generates relatively small noise. Further, in the motor drive device 1 shown in FIGS. 10 and 11, the current flowing through the wiring near the drive circuit board 3 that is not easily affected by noise increases, but it is near the drive circuit board 3 that is easily affected by noise. The current flowing through the wiring is reduced, and the noise generated by the wiring near the drive circuit board 3 that is susceptible to noise is reduced. Therefore, even if the motor drive units 2A to 2F and the motor drive units 2G to 2L are arranged so as to overlap in the vertical direction, it is possible to reduce the influence of noise received by the drive circuit board 3.

  10 and 11, the voltage drop between the drive circuit board 3 and the power supply circuit board 7 as compared with the case where the motor drive units 2A to 2L are arranged in the left-right direction. Can be suppressed, and the influence of noise received by the drive circuit board 3 can be reduced.

  In the motor drive device 1 shown in FIGS. 10 and 11, the motor drive unit 2 </ b> A and each of the six motor drive units 2 </ b> G to 2 </ b> L are connected via the power supply cable 12, as in the above-described embodiment. Compared to the case where the power supply cable 12 is used, the length of the power supply cable 12 can be shortened. Therefore, the power supply cable 12 can be routed in an orderly manner.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.

  In the embodiment described above, two motor drives in which the connector terminal 14 of the motor drive unit 2A and the connector terminal 13 of the motor drive unit 2B are connected via the power supply cable 12 and are arranged adjacent to each other in the left-right direction. The output connector terminals of the motor drive units 2B to 2E arranged on the left side of the units 2B to 2F and the right side of the two motor drive units 2B to 2F arranged adjacent to each other in the left-right direction. The input connector terminals of the motor drive units 2 </ b> C to 2 </ b> F are connected via the power supply cable 12. In addition, for example, the motor drive unit 2 </ b> A and each of the five motor drive units 2 </ b> B to 2 </ b> F may be connected via the power supply cable 12. Similarly, in the motor drive device 1 shown in FIGS. 10 and 11, the motor drive unit 2 </ b> A and each of the six motor drive units 2 </ b> G to 2 </ b> L may be connected via the power supply cable 12.

  In the embodiment described above, the motor drive units 2A to 2F are arranged in this order from the left side, but the motor drive units 2A to 2F may be arranged in this order from the right side. In the above-described form, the motor drive unit 2 drives and controls one servo motor. However, the motor drive unit 2 drives and controls a plurality of servo motors such as two or three. May be.

  In the embodiment described above, the fan 9 is arranged so as to suck air from the right side and discharge it to the left side. In addition, for example, the fan 9 may be arranged so as to suck air from the left side and discharge it to the right side. In this case, the drive circuit board 3 of the motor drive unit 2B is disposed so as to face the exhaust side of the fan 9 from the right side. In the above-described embodiment, the motor drive unit 2A includes the fan 9. However, the motor drive unit 2A may not include the fan 9. In this case, the drive circuit board 3 of the motor drive units 2A and 2B may be cooled using an external fan. In the above-described embodiment, even if the fan 9 is attached to the right side surface of at least one frame 4 of the motor drive units 2B to 2E and the right side surface of at least one frame 4 of the motor drive units 2G to 2K. good.

DESCRIPTION OF SYMBOLS 1 Motor drive device 2 Motor drive unit 2A Motor drive unit (main motor drive unit)
2B to 2F Motor drive unit (sub motor drive unit)
2G to 2L motor drive unit (second sub motor drive unit)
3 Drive circuit board 4 Frame 7 Power supply circuit board 9 Fan 12 Power supply cable 13 Power supply connector terminal (input connector terminal, main output connector terminal)
14 Power supply connector terminals (output connector terminals, main output connector terminals)
X Drive circuit board thickness direction X1 2nd direction X2 1st direction Z Vertical direction

Claims (8)

A plurality of motor drive units for driving and controlling a predetermined number of motors are provided.
The motor drive unit includes a drive circuit board on which a drive circuit and a control circuit of the motor are mounted, and a frame on which the drive circuit board is fixed,
The plurality of motor drive units are arranged in the thickness direction of the drive circuit board fixed to the frame,
When one side of the thickness direction of the drive circuit board is a first direction and the other side of the thickness direction of the drive circuit board is a second direction,
The motor drive unit arranged closest to the first direction is a main motor drive unit including a power supply circuit board on which a power supply circuit for supplying power to the drive circuit boards of the plurality of motor drive units is mounted. And the remaining motor drive units excluding the main motor drive unit are sub-motor drive units including the drive circuit board to which power is supplied from the power supply circuit board of the main motor drive unit,
The plurality of motor drive units are arranged on the drive circuit board so that the output capacity of the motor drive unit decreases from the main motor drive unit toward the sub motor drive unit arranged closest to the second direction. Arranged in the thickness direction,
The drive circuit board and the power supply circuit board of the plurality of motor drive units are arranged on the first direction side of the two motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. The length of the wiring between the drive circuit board and the power supply circuit board of the motor drive unit is the one of the two motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. The motor drive unit disposed on the second direction side is electrically connected in parallel so as to be shorter than the length of the wiring between the drive circuit board and the power supply circuit board. A motor drive device. Two power supply connector terminals to which a power supply cable can be connected are mounted on the drive circuit board,
In the sub motor drive unit, one of the two power supply connector terminals is an input connector terminal for taking in power into the drive circuit board, and the other of the two power supply connector terminals. The motor drive device according to claim 1, wherein the motor drive device is an output connector terminal for taking out electric power from the drive circuit board. Comprising at least two or more auxiliary motor drive units;
In the main motor drive unit, at least one of the two power supply connector terminals is a main output connector terminal for taking out power from the drive circuit board,
The main output connector terminal and the input connector terminal of the sub motor drive unit arranged adjacent to the second direction side of the main motor drive unit are connected via the power supply cable,
The output connector terminal of the sub motor drive unit arranged on the first direction side of the two sub motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board, and the drive circuit Of the two sub motor drive units arranged adjacent to each other in the thickness direction of the substrate, the input connector terminal of the sub motor drive unit arranged on the second direction side serves as the power supply cable. The motor driving device according to claim 2, wherein the motor driving device is connected via a motor. A plurality of second sub motor drive units configured in the same manner as the sub motor drive unit;
The plurality of second sub motor drive units are arranged in the thickness direction of the drive circuit board in the vertical direction perpendicular to the thickness direction of the drive circuit board and arranged in the thickness direction of the drive circuit board Arranged to overlap with the plurality of motor drive units,
The output capacity of the second sub motor drive unit arranged closest to the first direction is equal to or less than the output capacity of the main motor drive unit,
The plurality of second sub-motor drive units move from the second sub-motor drive unit arranged closest to the first direction toward the second sub-motor drive unit arranged closest to the second direction. Arranged in the thickness direction of the drive circuit board so that the output capacity of the second sub motor drive unit is reduced,
The drive circuit board and the power supply circuit board of the plurality of second sub-motor drive units are the two of the second sub-motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board. The lengths of the wirings between the drive circuit board and the power supply circuit board of the second sub motor drive unit arranged on the first direction side are arranged adjacent to each other in the thickness direction of the drive circuit board. The length of the wiring between the drive circuit board and the power supply circuit board of the second sub motor drive unit arranged on the second direction side among the second sub motor drive units is shorter than the length of the wiring between the drive circuit board and the power supply circuit board. The motor drive device according to claim 1, wherein the motor drive device is electrically connected in parallel. Two power supply connector terminals to which a power supply cable can be connected are mounted on the drive circuit board,
In the main motor drive unit, the two connector terminals for power supply are main output connector terminals for taking out power from the drive circuit board,
In the sub motor drive unit and the second sub motor drive unit, one of the two power supply connector terminals is an input connector terminal for taking in power to the drive circuit board. 5. The motor drive device according to claim 4, wherein the other of the power supply connector terminals is an output connector terminal for taking out electric power from the drive circuit board. Comprising at least two or more auxiliary motor drive units;
One of the two main output connector terminals and the input connector terminal of the sub-motor drive unit arranged adjacent to the second direction side of the main motor drive unit serve as the power supply cable. Connected through
The other of the two main output connector terminals is connected to the input connector terminal of the second sub motor drive unit arranged closest to the first direction via the power supply cable. ,
The output connector terminal of the sub motor drive unit arranged on the first direction side of the two sub motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board, and the drive circuit Of the two sub motor drive units arranged adjacent to each other in the thickness direction of the substrate, the input connector terminal of the sub motor drive unit arranged on the second direction side serves as the power supply cable. Connected through
The output connector terminal of the second sub motor drive unit disposed on the first direction side of the two second sub motor drive units disposed adjacent to each other in the thickness direction of the drive circuit board; The input connector terminal of the second sub motor drive unit arranged on the second direction side of the two second sub motor drive units arranged adjacent to each other in the thickness direction of the drive circuit board The motor drive device according to claim 5, wherein the motor drive device is connected via the power supply cable.   The motor drive device according to claim 1, wherein the plurality of motor drive units arranged in the thickness direction of the drive circuit board are in close contact with each other. A fan for cooling the drive circuit board of the main motor drive unit is attached to a side surface on the second direction side of the frame of the main motor drive unit,
The drive circuit board of the sub motor drive unit disposed adjacent to the main motor drive unit in the second direction side is disposed so as to face the intake side or exhaust side of the fan from the second direction side. The motor drive device according to claim 1, wherein the motor drive device is provided.

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