WO2022138266A1 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- WO2022138266A1 WO2022138266A1 PCT/JP2021/045753 JP2021045753W WO2022138266A1 WO 2022138266 A1 WO2022138266 A1 WO 2022138266A1 JP 2021045753 W JP2021045753 W JP 2021045753W WO 2022138266 A1 WO2022138266 A1 WO 2022138266A1
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- WIPO (PCT)
- Prior art keywords
- circuit board
- power supply
- control
- control circuit
- connector
- Prior art date
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- 239000000758 substrate Substances 0.000 claims abstract description 17
- 230000000717 retained effect Effects 0.000 abstract description 2
- 230000000630 rising effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/14—Mounting supporting structure in casing or on frame or rack
- H05K7/1401—Mounting supporting structure in casing or on frame or rack comprising clamping or extracting means
- H05K7/1402—Mounting supporting structure in casing or on frame or rack comprising clamping or extracting means for securing or extracting printed circuit boards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
- H05K7/20136—Forced ventilation, e.g. by fans
- H05K7/20145—Means for directing air flow, e.g. ducts, deflectors, plenum or guides
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
- H05K7/20136—Forced ventilation, e.g. by fans
- H05K7/20154—Heat dissipaters coupled to components
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/2039—Modifications to facilitate cooling, ventilating, or heating characterised by the heat transfer by conduction from the heat generating element to a dissipating body
- H05K7/20509—Multiple-component heat spreaders; Multi-component heat-conducting support plates; Multi-component non-closed heat-conducting structures
Definitions
- the present invention relates to a control device such as a robot controller.
- a drive circuit board including a drive circuit for driving a motor, a control circuit board including a control circuit for generating a control signal to be transmitted to the drive circuit board, and a source of a motor drive power supply supplied to the motor.
- a control device including a power supply circuit board including a power supply circuit for generating a power source and supplying the drive circuit board to the drive circuit board is known.
- the robot controller described in Patent Document 1 includes a drive circuit board, and a control circuit board and a power supply circuit board arranged in such a manner that the substrate surfaces of each other are arranged along the surface of the bottom plate of the housing.
- the drive circuit board includes a signal input connector and a power input connector fixed at one end of the board surface in a posture facing the board side.
- the control circuit board includes a signal output connector fixed in a posture facing upward on the board surface.
- the power supply circuit board includes a power supply output connector fixed in a posture facing upward on the board surface.
- the drive circuit board is erected on the control circuit board and the power supply circuit board in a posture of standing up from the respective board surfaces of the control circuit board and the power supply circuit board. The erection is realized by connecting the signal input connector of the drive circuit board and the signal output connector of the control circuit board, and connecting the power input connector of the drive circuit board and the power output connector of the power circuit board.
- the robot controller having such a configuration can simplify the internal structure of various circuit boards arranged in the housing.
- the present invention has been made in view of the above background, and an object of the present invention is to appropriately install a drive circuit board without aligning the control circuit board and the power supply circuit board with high accuracy. It is to provide a control device capable of.
- the present invention comprises a drive circuit board including a drive circuit for driving a motor, and a control circuit board including a control circuit for generating a control signal to be transmitted to the drive circuit board.
- a power supply circuit board including a power supply circuit that generates a power source that is a source of a motor drive power supply supplied to the motor and supplies the power supply to the drive circuit board, and the control circuit board outputs the control signal.
- a signal input connector including a signal output connector including an output terminal of the above, wherein the drive circuit board includes an input terminal for inputting the control signal, and an input for inputting a power source generated by the power supply circuit.
- a control device including a power input connector including terminals, wherein the power circuit board includes a power output unit for outputting power, and the control circuit board inputs power generated by the power circuit.
- a power input unit is provided, and a power output connector including an output terminal for outputting the power is provided, and the drive circuit board connects the signal input connector and the signal output connector of the control circuit board.
- control device capable of appropriately installing a drive circuit board without aligning the control circuit board and the power supply circuit board relative to each other with high accuracy, which is an excellent effect. ..
- the robot controller according to the embodiment individually controls the drive of each of a plurality of motors mounted on the industrial robot.
- FIG. 1 is a perspective view showing a main part of the robot controller 1 according to the embodiment diagonally upward.
- the robot controller 1 includes a bottom plate 2 and a front panel 3 of the housing, a power supply mounting portion 4, a second communication circuit board 5, a noise remover 6, a power supply circuit board 10, a power supply control board 20, a control circuit board 50, and four.
- a drive circuit board 80 or the like is provided.
- the power supply device mounting unit 4 mounts a power supply device that converts an external power supply into a 5V power supply for a control signal and outputs the power supply.
- the AC power source which is the source of the motor drive power source, is input to the power supply circuit board 10 via the noise remover 6 and the power supply control board 20.
- the power supply circuit board 10 includes a power supply circuit that converts an AC power source into a DC power source and outputs it as a motor drive power source supplied to the motor.
- the power supply circuit includes a plurality of electric field capacitors 11.
- a plurality of through openings are arranged on the front panel 3, and an external connector 98 for communicating with an external device penetrates through each through opening.
- the plurality of external connectors 98 are mounted on the second communication circuit board 5 or the first communication circuit board, which will be described later.
- An exhaust port 4a1 is provided on the back panel 4a of the power supply mounting unit 4.
- An exhaust fan that exhausts the air inside the housing to the outside of the housing through the exhaust port 4a1 is fixed to the above-mentioned back panel 4a.
- the robot controller 1 can mount a plurality of drive circuit boards 80, and in the illustrated example, only four drive circuit boards 80 are mounted.
- the drive circuit board 80 includes a drive circuit for driving the motor.
- the control circuit board 50 includes a control circuit that individually generates control signals to be transmitted to each of the plurality of drive circuit boards 80 mounted.
- the arrow B direction indicates the front-rear direction of the housing
- the arrow C direction indicates the left-right direction of the housing (the same applies to FIGS. 2 and 3 described later).
- FIG. 2 is a perspective view showing the control circuit board 50 and the drive circuit board 80.
- the control circuit board 50 is fixed to the bottom plate in a posture in which the back surface of the substrate faces the bottom plate of the housing (2 in FIG. 1) and the longitudinal direction of the board is along the left-right direction (arrow C direction) of the housing.
- the structure of the control circuit board 50 is a 6-layer structure in which 6 layers are laminated. A wiring pattern intervenes at the boundary between layers.
- the structure of the power supply circuit board 10 is a two-layer structure in which two layers are laminated.
- the control circuit board 50 includes a power supply relay area A2 and a control circuit mounting area A1 arranged in the front-rear direction (arrow B direction) of the housing.
- the control circuit for generating the control signal to be transmitted to the drive circuit board 80 is provided in the control circuit mounting area A1.
- the control circuit board 50 includes 8 sets of connectors.
- One set of connectors includes a signal output connector 51 having an output terminal for outputting a control signal, and an output terminal for outputting a DC power supply output from a power supply circuit of a power supply circuit board (10 in FIG. 1).
- the power output connector 52 comprises the above, and the connectors are arranged along the front-rear direction (arrow B direction) of the housing.
- the signal output connector 51 of the connector set is provided in the control circuit mounting area A1, and the power output connector 52 is provided in the power relay area A2. Both the signal output connector 51 and the power output connector 52 are mounted on the front surface of the control circuit board 50 with the tip of the output terminal facing upward at right angles to the substrate surface.
- the signal output connector 51 also includes a control power supply terminal that outputs a control power supply for controlling the drive circuit of the drive circuit board 80.
- the control circuit board 50 includes a DC voltage input connector 54 as a power input unit to which a DC power source generated by the power supply circuit board (10 in FIG. 1) is input. Further, the control circuit board 50 includes a high-speed serial communication connector 53 and an encode connector 55. The DC power supply input to the DC voltage input connector 54 is distributed to a plurality of branch wiring patterns in the power supply relay area A2 of the control circuit board 50, and is input to each output terminal of the plurality of power supply output connectors 52.
- the power supply circuit for generating the DC voltage is not provided in the power supply relay area A2 of the control circuit board 50, it is possible to avoid expanding the area of the control circuit board 50 by providing the power supply circuit. can do.
- the drive circuit board 80 includes a signal input connector 81, a power input connector 82, a drive power output connector 83, and a heat sink 84.
- the signal input connector 81 and the power input connector 82 are arranged in the front-rear direction of the housing at one end in the lateral direction of the board, and the input terminals are directed from the center side of the board surface to the outside of the board. Is implemented in.
- the signal input connector 81 of the drive circuit board 80 is connected to the signal output connector of the control circuit board 50, and the power input connector 82hs of the drive circuit board 80 and the power output of the control circuit board 50. It is connected to the connector 52.
- the drive circuit board 80 is attached to the control circuit board 50 in a posture of standing up from the front surface of the control circuit board 50 while keeping the longitudinal direction of the board along the front-rear direction (arrow B direction) of the housing. Be retained.
- the drive circuit board 80 is not erected on the power supply circuit board (10 in FIG. 1) and the control circuit board 50, but is a control circuit among the power supply circuit board 10 and the control circuit board 50. It is held only on the substrate 50. By such holding, the drive circuit board 80 can be appropriately installed without aligning the control circuit board 50 and the power supply circuit board 10 with high accuracy.
- the drive circuit of the drive circuit board 80 converts the DC power supply sent from the power supply output connector 52 of the control circuit board 50 into a motor drive power supply composed of a multi-phase AC voltage.
- the motor drive power supply is supplied to an external motor through the drive power supply output connector 83 of the drive circuit board 80.
- FIG. 3 is a perspective view showing various substrates from different angles from FIG. In FIG. 3, for convenience, the illustration of the second communication circuit board (5 in FIG. 1) is omitted.
- the power supply circuit board 10 includes a DC voltage output connector 13 as a power supply output unit for outputting a DC power supply.
- the DC voltage input connector 54 of the control circuit board 50 and the DC voltage output connector 13 of the power supply circuit board 10 are electrically connected by a power cable 93 with a connector. According to such a configuration, the DC power supply generated by the power supply circuit of the power supply circuit board 10 is relayed to the power supply of the control circuit board 50 without performing the relative alignment between the power supply circuit board 10 and the control circuit board 50 with high accuracy. It can be supplied to the region A2.
- the power supply circuit board 10 and the power supply control board 20 are arranged in a two-story manner.
- the power supply control board 20 includes a circuit for turning on / off the output of the DC power supply from the power supply circuit of the power supply circuit board 10, a circuit for detecting the input of the AC power supply, and the like. Further, the structure of the power supply control board 20 is a four-layer structure in which four layers are laminated.
- the robot controller 1 includes a first communication circuit board 7 and an upper control board 100 including a CPU (Central Processing Unit) 101.
- a CPU Central Processing Unit
- the first communication circuit board 7 includes a high-speed serial communication connector 7a and an encode connector 7c.
- the upper control board 100 performs periodic communication with the control circuit board 50 by high-speed serial communication via the first communication circuit board 7.
- the high-speed communication connector 7a of the first communication circuit board 7 and the high-speed communication connector 53 of the control circuit board 50 are electrically connected via a communication cable 92 with a connector.
- the first communication circuit board 7 and the upper control board 100 are electrically connected to each other via a connector (not shown).
- the first communication circuit board 7, the upper control board 100, and the second communication circuit board (5 in FIG. 1) are arranged in a three-story manner.
- the upper control board 100 is located above the first communication circuit board 7.
- the second communication circuit board 5 is located above the upper control board 100 and is fixed on the front surface of the first communication circuit board 7.
- the structure of the upper control board 100 including the CPU 101 that executes arithmetic processing to control various devices in the robot controller 1 is a 10-layer structure.
- the control circuit board 50 including a plurality of connector sets tends to have a large flat area. If such a control circuit board 50 is provided with a CPU, it becomes an expensive CPU electronic board having a large area and having many layers (for example, 10 layers) laminated. Therefore, in the robot controller 1, the upper control board 100 including the CPU 101 is provided separately from the control circuit board 50. In such a configuration, the flat area of the CPU-mounted electronic board (upper control board 100 in the embodiment) can be reduced as compared with the case where the CPU is arranged on the control circuit board 50, and the cost can be reduced.
- the first communication circuit board 7 and the second communication circuit board 5 that communicate with the outside are separated from the upper control board 100, and the three of them are separated from each other.
- the boards are arranged in a three-story manner. According to such a configuration, the area of the upper control board 100 can be reduced and the cost can be reduced as compared with the configuration in which the communication circuit is arranged on the expensive upper control board 100.
- the encode connector 7c of the first communication circuit board 7 and the encode connector 55 of the control circuit board 50 are electrically connected by a flat harness 91.
- the flat harness 91 crawls under the first communication circuit board 7, the power supply control board 20, and the control circuit board 50.
- Rotational angular velocity signals (or rotation position signals) individually output from the rotary encoders of the motors are input to the first communication circuit board 7 via external wiring. Then, the rotation angular velocity signal (or rotation position signal) is input to the drive circuit board 80 via the flat harness 91 and the signal output connector (51 in FIG. 2) of the control circuit board 50.
- FIG. 1 for convenience, only a part of the entire area of the front panel 3 in the surface direction is shown.
- An intake port for sucking outside air is arranged in an area (not shown) on the front panel 3.
- the front panel 3 corresponds to a wall on one side (front side in the front-rear direction) of the housing in a predetermined direction.
- the back panel 4a of the power supply mounting portion 4 corresponds to the wall on the other side (rear side in the front-rear direction) in a predetermined direction of the housing, and the back panel 4a is the air inside the housing.
- the exhaust port 4a1 for exhausting the air is arranged.
- the drive circuit board 80 is held by the control circuit board 50 in a posture in which the heat sink 84a of the heat sink 84 as a radiator extends in a direction parallel to the front-rear direction (predetermined direction) of the housing.
- the air taken into the housing from the intake port of the housing is smoothly moved along the extending direction of the heat radiating plate 84a while being in contact with the heat radiating plate 84a, and then smoothly from the exhaust port of the housing.
- the drive circuit board 80 can be efficiently cooled.
- a drive circuit board (for example, a drive circuit board 80) including a drive circuit for driving a motor and a control circuit board (for example, a control circuit board) including a control circuit for generating a control signal to be transmitted to the drive circuit board.
- a power supply circuit board (for example, a power supply circuit board) including a control circuit board 50) and a power supply circuit that generates a power source (for example, a DC power supply) that is a source of a motor drive power supply supplied to the motor and supplies the power supply to the drive circuit board.
- the control circuit board includes a signal output connector (for example, a signal output connector 51) including an output terminal for outputting the control signal, and the drive circuit board inputs the control signal.
- a signal input connector for example, a signal input connector 81 including an input terminal for inputting a power source for inputting the power supply circuit
- a power supply input connector for example, a power supply input connector 82 including an input terminal for inputting a power source generated by the power supply circuit.
- a control device for example, a robot controller 1
- the power supply circuit board includes a power supply output unit (for example, a DC voltage output connector 13) for outputting a power source, and the control circuit board is generated by the power supply circuit.
- the drive circuit board is provided with a power supply input unit (for example, a DC voltage input connector 54) to which a power source is input and a power supply output connector (for example, a power supply output connector 52) having an output terminal for outputting the power supply.
- a power supply input unit for example, a DC voltage input connector 54
- a power supply output connector for example, a power supply output connector 52
- the posture of standing up from the board surface of the control circuit board by connecting the signal input connector to the signal output connector of the control circuit board and connecting the power input connector to the power output connector of the control circuit board. It is characterized in that it is held on the control circuit board.
- the drive circuit board is not mounted on the power supply circuit board and the control circuit board, but is held only on the control circuit board among the power supply circuit board and the control circuit board. By such holding, according to the first aspect, the drive circuit board can be appropriately installed without aligning the control circuit board and the power supply circuit board with high accuracy.
- the second aspect has the configuration of the first aspect, and is characterized in that the power output unit and the power input unit are connected by a cable (for example, a power cable 93 with a connector).
- a cable for example, a power cable 93 with a connector
- the power supply generated by the power supply circuit of the power supply circuit board can be supplied to the control circuit board without performing the relative alignment between the power supply circuit board and the control circuit board with high accuracy.
- the third aspect is characterized in that the upper control board (for example, the upper control board 100) including the configuration of the second aspect and the CPU (for example, CPU 101) is provided separately from the control circuit board. be.
- the upper control board for example, the upper control board 100
- the CPU for example, CPU 101
- the third aspect it is possible to reduce the flat area of the CPU-mounted electronic board and reduce the cost as compared with the case where the CPU is arranged on the control circuit board. Further, even if a design change occurs in the peripheral circuit connected to the CPU, the expensive upper control board can be shared by changing the board connected to the control board to a board having the peripheral circuit after the design change. Can be used.
- the fourth aspect includes the configuration of the third aspect, the upper control board, the power supply circuit board, and a housing accommodating the control circuit board, and the drive circuit board comprises a radiator (for example, a heat sink 84).
- a wall on one side (eg, front panel 3) in a predetermined direction of the housing (eg, front panel 3) comprises an intake port for taking in outside air, and the wall on the other side in a predetermined direction of the housing (eg, back panel).
- 4a) includes an exhaust port (for example, an exhaust port 4a1) for exhausting air in the housing, and the drive circuit board extends a heat sink (for example, a heat sink 84a) of the radiator in a direction parallel to the predetermined direction. It is characterized in that it is held by the control circuit board in the posture of being present.
- the air taken into the housing from the intake port of the housing is smoothly moved along the extending direction of the heat sink while being in contact with the heat sink of the radiator, and then exhausted from the housing.
- the drive circuit board can be cooled efficiently.
- Robot controller control device
- 2 Bottom plate
- 3 Front panel (one side wall in a predetermined direction)
- 4a Back panel (other side wall in a predetermined direction)
- 4a1 Exhaust port
- 10 Power supply circuit Board
- 13 DC voltage output connector (power output unit)
- 50 control circuit board
- 51 signal output connector
- 52 power output connector
- 54 DC voltage input connector (power input unit)
- 80 drive circuit board
- 81 Signal input connector
- 82 Power input connector
- 83 Drive power output connector
- 84 Heat sink (radiator)
- 84a Heat dissipation plate
- 93 Power cable with connector
- 100 Upper control board
- 101 CPU
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Abstract
Description
〔第1態様〕
第1態様は、モータを駆動するための駆動回路を具備する駆動回路基板(例えば駆動回路基板80)と、前記駆動回路基板に送信する制御信号を生成する制御回路を具備する制御回路基板(例えば制御回路基板50)と、前記モータに供給されるモータ駆動電源の元となる電源(例えば直流電源)を生成して前記駆動回路基板に供給する電源回路を具備する電源回路基板(例えば電源回路基板10)とを備え、前記制御回路基板が、前記制御信号を出力するための出力端子を具備する信号出力コネクタ(例えば信号出力コネクタ51)を備え、前記駆動回路基板が、前記制御信号を入力するための入力端子を具備する信号入力コネクタ(例えば信号入力コネクタ81)と、前記電源回路によって生成された電源を入力するための入力端子を具備する電源入力コネクタ(例えば電源入力コネクタ82)とを備える制御装置(例えばロボットコントローラ1)であって、前記電源回路基板が、電源を出力するための電源出力部(例えば直流電圧出力コネクタ13)を備え、前記制御回路基板が、前記電源回路によって生成された電源を入力される電源入力部(例えば直流電圧入力コネクタ54)と、前記電源を出力するための出力端子を具備する電源出力コネクタ(例えば電源出力コネクタ52)とを備え、前記駆動回路基板が、前記信号入力コネクタと前記制御回路基板の前記信号出力コネクタとの接続、及び前記電源入力コネクタと前記制御回路基板の前記電源出力コネクタとの接続により、前記制御回路基板の基板面上から立ち上がる姿勢で前記制御回路基板に保持されることを特徴とするものである。
第2態様は、第1態様の構成を備え、且つ、前記電源出力部と前記電源入力部とが、ケーブル(例えばコネクタ付き電源ケーブル93)で接続されることを特徴とするものである。
第3態様は、第2態様の構成を備え、且つ、CPU(例えばCPU101)を具備する上位制御基板(例えば上位制御基板100)を、前記制御回路基板とは別に備えることを特徴とするものである。
第4態様は、第3態様の構成と、前記上位制御基板、前記電源回路基板、及び前記制御回路基板を収容する筐体とを備え、前記駆動回路基板が、放熱器(例えばヒートシンク84)を備え、前記筐体の所定方向(例えば前後方向)における一方側の壁(例えば前面パネル3)が、外気を吸気する吸気口を備え、前記筐体の所定方向における他方側の壁(例えば背面パネル4a)が、筐体内の空気を排気する排気口(例えば排気口4a1)を備え、前記駆動回路基板が、前記放熱器の放熱板(例えば放熱板84a)を前記所定方向と平行な方向に延在させる姿勢で、前記制御回路基板に保持されることを特徴とするものである。
Claims (4)
- モータを駆動するための駆動回路を具備する駆動回路基板と、前記駆動回路基板に送信する制御信号を生成する制御回路を具備する制御回路基板と、前記モータに供給されるモータ駆動電源の元となる電源を生成して前記駆動回路基板に供給する電源回路を具備する電源回路基板とを備え、
前記制御回路基板が、前記制御信号を出力するための出力端子を具備する信号出力コネクタを備え、
前記駆動回路基板が、前記制御信号を入力するための入力端子を具備する信号入力コネクタと、前記電源回路によって生成された電源を入力するための入力端子を具備する電源入力コネクタとを備える制御装置であって、
前記電源回路基板が、電源を出力するための電源出力部を備え、
前記制御回路基板が、前記電源回路によって生成された電源を入力される電源入力部と、前記電源を出力するための出力端子を具備する電源出力コネクタとを備え、
前記駆動回路基板が、前記信号入力コネクタと前記制御回路基板の前記信号出力コネクタとの接続、及び前記電源入力コネクタと前記制御回路基板の前記電源出力コネクタとの接続により、前記制御回路基板の基板面上から立ち上がる姿勢で前記制御回路基板に保持される
ことを特徴とする制御装置。 - 前記電源出力部と前記電源入力部とが、ケーブルで接続される
ことを特徴とする請求項1に記載の制御装置。 - CPUを具備する上位制御基板を、前記制御回路基板とは別に備えることを特徴とする請求項2に記載の制御装置。
- 前記上位制御基板、前記電源回路基板、及び前記制御回路基板を収容する筐体を備え、
前記駆動回路基板が、放熱器を備え、
前記筐体の所定方向における一方側の壁が、外気を吸気する吸気口を備え、
前記筐体の所定方向における他方側の壁が、筐体内の空気を排気する排気口を備え、
前記駆動回路基板が、前記放熱器の放熱板を前記所定方向と平行な方向に延在させる姿勢で、前記制御回路基板に保持される
ことを特徴とする請求項3に記載の制御装置。
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US18/268,593 US20240276665A1 (en) | 2020-12-25 | 2021-12-13 | Control device |
KR1020237018915A KR20230104239A (ko) | 2020-12-25 | 2021-12-13 | 제어 장치 |
CN202180084541.5A CN116600950A (zh) | 2020-12-25 | 2021-12-13 | 控制装置 |
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JP2020216174A JP2022101840A (ja) | 2020-12-25 | 2020-12-25 | 制御装置 |
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JP5803213B2 (ja) * | 2011-03-30 | 2015-11-04 | セイコーエプソン株式会社 | ロボットコントローラー |
WO2018179773A1 (ja) * | 2017-03-30 | 2018-10-04 | 日立オートモティブシステムズ株式会社 | 電力変換装置 |
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JPS5925609Y2 (ja) | 1981-07-01 | 1984-07-27 | 勉 東條 | コンクリ−ト投入機のコンクリ−ト掻落し装置 |
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JP5803213B2 (ja) * | 2011-03-30 | 2015-11-04 | セイコーエプソン株式会社 | ロボットコントローラー |
WO2018179773A1 (ja) * | 2017-03-30 | 2018-10-04 | 日立オートモティブシステムズ株式会社 | 電力変換装置 |
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CN116600950A (zh) | 2023-08-15 |
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