Patent Description:
As one of use applications of industrial servo motors, there is a processing machine having an arm configured with a plurality of axes. In such a processing machine for controlling multiple axes, usually, a plurality of servo amplifier devices (hereinafter, simply referred to as servo amplifiers, as appropriate) each for controlling and driving a servo motor are also demanded in accordance with a number of axes. For this reason, as the number of axes increases, a servo amplifier group occupies a larger space. Furthermore, wiring connected with the servo motors, wiring for servo amplifier control, and the like also increase. For this reason, a wiring process becomes complicated, and a connection error or the like easily occurs. Therefore, a multiaxis servo drive device having the purpose for, for example, improving work efficiency by simplifying the wiring has been conventionally proposed (see, for example, PTL <NUM>).

Such a conventional multiaxis servo drive device includes a converter unit that outputs DC power, and a plurality of servo amplifier units, each of which drives a servo motor. Each of the units includes a connector for wiring that enables a cable connection for, for example, a DC power supply or a motor power line. Furthermore, the conventional multiaxis servo drive device includes a mount base including a circuit board. On such a circuit board, a receiving-side connector corresponding to a connector of each unit is disposed, and the wiring process is also performed beforehand. The conventional multiaxis servo drive device is configured by disposing each connector of each unit so as to be fitted and connected with the receiving-side connector of the mount base.

In the case of the conventional multiaxis servo drive device, however, in order to hold each unit, a mount base having a rack structure for accommodating each unit in a shelf frame is needed. Therefore, a number of units to be accommodated in the shelf frame is limited, and it is unsuited for a large scale of additional unit installation.

Furthermore, in the conventional multiaxis servo drive device, the provision of a circuit board for the wiring is needed in addition to the rack structure. For this reason, as a configuration for holding each unit, a mount base dedicated to this device is needed. Therefore, it is unsuited to flexibly change the configuration, and the cost also becomes higher.

PTL <NUM>: Unexamined <CIT>
<CIT> discloses a motor control system and an electrical bus for interconnecting the components of the control system. The system includes a main motor control unit connected to four motor axis control modules. The control algorithms and commands for the system are stored and executed by the control unit which communicates control commands to the individual motor axis control modules. Each motor control module processes the control commands to control a motor connected to the module, and also communicates feedback signals produced at the associated axis to the control unit. The interconnection between the control unit and the modules is positioned at the face of the components to facilitate removal and insertion of the modules. The electrical bus includes both communications conductors and power conductors, and is included in the interconnection of the components. A portion of the system bus is supported by each of the system modules, wherein the bus is completed only if all of the system modules are in position and the connectors of each portion of the bus are engaged. <CIT> discloses a motor driving apparatus including at least one motor driving unit, the motor driving unit includes a drive circuit substrate on which a drive circuit and a control circuit of a motor are mounted and a frame on which the drive circuit substrate is fixed. A power supply circuit substrate on which a power supply circuit for supplying power to the drive circuit substrate is to be mounted and a cover member for covering the power supply circuit substrate can be attached to the X2 direction side of the frame, and in a state where the power supply circuit substrate and the cover member are detached from the frame of a motor driving unit, an X2 direction end of the frame of the motor driving unit can be brought into contact with an X1 direction end of the frame of a motor driving unit. <CIT> discloses a high-power servo motor driving field and especially a servo motor driving unit structure. The servo motor driving unit structure has a special structure. The structure can be used for servo motor driving control, and is formed by function modules and a special housing structure. The housing is a book-type cuboid structure. The top surface and bottom surface of the housing structure are provided with a DC bus duct body, an mBUS interface, an MC_GPIO interface, a speed sensor interface, an MC_CNRLA interface and a motor interface, which are arranged corresponding to the corresponding function modules respectively, thereby realizing corresponding driving control functions and enabling the overall size to be smaller; besides, the overall structure is in a book shape, which facilitates modular production and joint integrated installation with other related unit modules; and the servo motor driving unit structure is of great significance to occasions (such as on a highspeed rail), where installation space is limited.

The present invention has been made to address the above drawbacks. In the present invention, a multiaxis servo control device that conducts servo control on a plurality of servo motors constituting multiple axes is achieved with a simple configuration, and has a configuration in consideration of ease of wiring. Accordingly, an object of the present invention is to provide a servo amplifier device and a multiaxis servo control device that also improve work efficiency.

In order to achieve the above object, a servo amplifier device according to the present invention is a servo amplifier device that incorporates a control drive circuit configured to control and drive a motor, the servo amplifier device including: a housing that houses the control drive circuit; an attachment portion for attaching the housing to an installation member; a DC power supply connection unit connected with a DC power supply line to be supplied with DC power; and a communication connector connected with an external controller to be supplied with a communication signal; a motor driving connector connected with a drive line for driving the motor; and a display unit disposed with a display member. The housing has a box shape having a pair of first surfaces facing each other and each having a largest area. The communication connector and the motor driving connector are disposed on a pair of second surfaces perpendicular to the first surfaces and facing each other. On a pair of third surfaces perpendicular to the first surfaces and the second surfaces and facing each other, the attachment portion is disposed on a back surface side with one of the third surfaces being as a back surface, and the display unit and the DC power supply connection unit are disposed on a front surface with the other one of the third surfaces being as the front surface.

With this configuration, the present servo amplifier device has only to be attached on the back surface side. Thus, this configuration eliminates the need for a dedicated installation member such as a rack structure. For example, the housing can be easily attached to a wall or an inexpensive plate-shaped installation member by using the attachment portion. Furthermore, in the case of being installed on an installation member or the like, a number of servo amplifier devices is no longer limited. In addition, the connector or the connection portion is configured to be distributed to the respective surfaces of the housing according to the function. Therefore, the work efficiency together with the ease of the wiring can be improved.

Further, preferably, the DC power supply line is a bus bar including a metal plate, and the DC power supply connection unit is a bus bar connector configured to connect the metal plate of the bus bar.

Further, the DC power supply connection unit is preferably disposed to be closer to a center side than the display unit is on the front surface of the housing.

Further, preferably, the communication connector is disposed on one of the pair of second surfaces, and the motor driving connector is disposed on the other one of the pair of second surfaces.

Further, the display unit is preferably disposed to be closer to the communication connector than the motor driving connector on the front surface of the housing.

Further, a multiaxis servo control device according to the present invention is a multiaxis servo control device including a plurality of the above-described servo amplifier devices and configured to control and drive a plurality of the motors. The present multiaxis servo control device includes a power supply device including a DC power supply output unit that outputs the DC power, and configured to supply the DC power from the DC power supply output unit to each of the servo amplifier devices; an installation board that is the installation member for attaching the power supply device and the plurality of servo amplifier devices; and the DC power supply line that connects the DC power supply connection unit of each of the servo amplifier devices. The plurality of servo amplifier devices are arranged side by side in a normal direction with respect to the first surfaces, and are each attached to the installation board via the attachment portion provided on the back surface side of the housing.

With such a configuration, each servo amplifier device has only to be fixed to an installation member having a simple configuration such as the installation board. Therefore, an additional installation of the servo amplifier device or a change in the arrangement configuration of the servo amplifier devices on the installation board can be easily achieved. Furthermore, in the servo amplifier device, the connectors or the connection portions are distributed according to the function to be disposed on the respective surfaces of the housing. Therefore, the wiring process can also be performed for each function by using a space above or a space below the servo amplifier devices arranged side by side in the lateral direction. Therefore, the wiring becomes easy, and a work error or the like can be suppressed.

Further, preferably, a plurality of split bus bars each including a metal plate as the DC power supply line is further included, and the DC power supply connection units included in the servo amplifier devices adjacent to each other are connected through the split bus bar.

Further, the power supply device according to the present invention includes: a power supply housing that houses a power supply circuit to be supplied with a commercial power supply to generate DC power; a power supply attachment portion for attaching the power supply housing to the installation board; and a DC power supply output unit that outputs the DC power. The power supply housing has a box shape having a pair of first surfaces facing each other and each having a largest area, a commercial power supply input line supplied with the commercial power supply is disposed on a pair of second surfaces perpendicular to the first surfaces and facing each other, on a pair of third surfaces perpendicular to the first surfaces and the second surfaces and facing each other, the power supply attachment portion is disposed on a back surface side with one of the third surfaces being as a back surface, and the DC power supply output unit is disposed on a front surface with the other one of the third surfaces being as the front surface.

Further, preferably, the power supply device and the plurality of servo amplifier devices are disposed side by side in a normal direction with respect to the first surfaces of the housings of the servo amplifier devices, and are each attached to the installation board via the attachment portion provided on the back surface side of the housing of the servo amplifier device.

In this manner, according to the present invention, a multiaxis servo control device that conducts servo control on a plurality of servo motors constituting multiple axes can be achieved with a simple configuration. In addition, it is possible to provide a servo amplifier device having a configuration in consideration of ease of wiring and also improving the work efficiency, and a multiaxis servo control device.

An exemplary embodiment of the present invention will be described with reference to the drawings. Note that the following exemplary embodiment is an example embodying the present invention.

<FIG> is a configuration diagram of servo system <NUM> including multiaxis servo control device <NUM> provided with a plurality of servo amplifier devices <NUM> according to an exemplary embodiment of the present invention.

As illustrated in <FIG>, servo system <NUM> includes multiaxis servo control device <NUM>, a plurality of servo motors (hereinafter, simply referred to as motors, as appropriate) <NUM> to be controlled and driven by multiaxis servo control device <NUM>, and host controller <NUM> that controls each servo amplifier device <NUM>. <FIG> illustrates a configuration example of three-axis servo system <NUM>, in which three pairs of servo amplifier devices <NUM> and motors <NUM> are provided with one servo amplifier device <NUM> and one motor <NUM> constituting one pair.

Multiaxis servo control device <NUM> in servo system <NUM> includes three servo amplifier devices <NUM>, power supply device <NUM> that supplies DC power to each servo amplifier device <NUM>, and installation board <NUM> on which each servo amplifier device <NUM> and power supply device <NUM> are installed.

In servo system <NUM>, first, as motor <NUM> to be controlled and driven by multiaxis servo control device <NUM>, for example, a brushless motor is suitable in addition to the servo motor. That is, as a configuration example of motor <NUM>, as illustrated by using one of motors <NUM> in <FIG>, a brushless motor can be mentioned. Regarding the brushless motor, stator <NUM> fixed to motor housing <NUM>, rotor <NUM> disposed on an inner circumferential side of stator <NUM>, and bearing <NUM> that supports rotor <NUM> are housed in motor housing <NUM>. Here, stator <NUM> is formed by winding three-phase windings of a U phase, a V phase, and a W phase around a stator core. Rotor <NUM> holds a permanent magnet in a rotor core, and rotates about rotation shaft <NUM>. Servo amplifier device <NUM> applies a drive voltage having a drive waveform corresponding to the control to the windings of motor <NUM>, and then rotation shaft <NUM> rotates. Accordingly, for example, a load connected with rotation shaft <NUM> is rotated by motor <NUM>.

In the present exemplary embodiment, the drive voltage for the rotation control as described above is supplied from servo amplifier device <NUM> to motor <NUM> via drive line <NUM>. Motor <NUM> includes encoder <NUM> for detecting the rotational position of rotor <NUM>. A signal from encoder <NUM> is supplied to servo amplifier device <NUM> via encoder line <NUM>.

On the other hand, servo amplifier device <NUM> incorporates a control drive circuit for controlling and driving motor <NUM>. In order to supply the power to the control drive circuit, multiaxis servo control device <NUM> includes power supply device <NUM> for supplying the DC power to each servo amplifier device <NUM>. Power supply device <NUM> is connected with AC power supply <NUM>, which is a commercial power supply, via commercial power supply input line <NUM>. Power supply device <NUM> converts AC power supplied from AC power supply <NUM> into DC power, and supplies the DC power to each servo amplifier device <NUM>. Power supply device <NUM> houses such a DC power conversion circuit in power supply housing <NUM> having a box shape. In a similar manner, servo amplifier device <NUM> also houses the control drive circuit in amplifier housing <NUM>, which is a housing having a box shape. Servo amplifier device <NUM> uses the DC power that has been supplied from power supply device <NUM> to cause the control drive circuit to conduct an electrical operation and also generate a drive voltage for driving motor <NUM>.

The present exemplary embodiment is characterized in that the power is supplied by using a so-called bus bar in order to constitute a DC power supply line for supplying the DC power in this manner. The bus bar is a member used to conduct an electric current of a large capacity, and its conductive portion is configured with a conductor plate or a conductor rod formed of a metal such as copper or aluminum. Specifically, regarding the bus bar, as illustrated in <FIG>, a power supply connection is accomplished by using split bus bars <NUM> that respectively connect devices to straddle the devices like jumper wires at the central parts on the front surfaces of power supply device <NUM> and each servo amplifier device <NUM>. Note that the power supply connection using split bus bars <NUM> will be described later in more detail.

Each servo amplifier device <NUM> is connected with host controller <NUM> in order to control the control drive circuit incorporated in each servo amplifier device <NUM>. In <FIG>, host controller <NUM> and each servo amplifier device <NUM> communicate with each other via communication line <NUM>. Note that, in the present exemplary embodiment, an example of wired communication using communication line <NUM> has been described. However, wireless communication may be configured.

As a specific example of host controller <NUM>, for example, a personal computer can be used in a case of parameter settings or the like, and a programmable logic controller (PLC) or a motion controller can be used in a case of giving an action command for instructing the rotation position, the speed, or the like. Further, as a specific communication method in this communication, for example, data communication compliant with a serial communication standard such as RS232C/<NUM>, a universal serial bus (USB) standard, or realtime express (RTEX) or EtherCAT (registered trademark) communication, which is a communication specification dedicated to a factory automation (FA) network, is also suitable. By such a connection between host controller <NUM> and each servo amplifier device <NUM>, host controller <NUM> sends various types of information including an action command to each servo amplifier device <NUM>, and also receives various types of information from each servo amplifier device <NUM>, such that motor <NUM> conducts a desired action. For example, in a case where servo amplifier device <NUM> controls the position of rotor <NUM> included in motor <NUM>, host controller <NUM> notifies of a target position command, and in a case where the speed of rotor <NUM> is controlled, host controller <NUM> notifies of a target speed command.

Each servo amplifier device <NUM> controls and drives the motion and action of motor <NUM>, based on the action command from host controller <NUM>. Therefore, servo amplifier device <NUM> includes a controller and a drive unit each being as a main circuit configuration. The main operation of the controller includes functions of feedback control as follows. That is, the controller is supplied with a command signal indicating an action command from host controller <NUM> as described above via communication line <NUM>, and a detection signal indicating the position or speed that has been detected by encoder <NUM> from encoder <NUM> of motor <NUM> via encoder line <NUM>. The controller generates a control signal using such a command signal and such a detection signal, based on, for example, the feedback control, and controls the action of motor <NUM> such that the motion position or the speed of motor <NUM> follows the action command. Specifically, the controller is preferably, for example, the central processing unit (CPU) or a microcomputer incorporating a memory in which a program is stored. The drive unit includes a so-called inverter. The inverter is configured with power conversion elements such as a switching element and a diode. The inverter uses these elements to generate a drive voltage having a drive waveform corresponding to the control signal. This drive voltage is supplied to the windings of motor <NUM> via drive line <NUM>. Accordingly, the windings of motor <NUM> are energized, and rotor <NUM> and rotation shaft <NUM> in motor <NUM> rotate.

<FIG> is an external view of servo amplifier device <NUM> according to the exemplary embodiment of the present invention.

A configuration of servo amplifier device <NUM> will be described in detail with reference to <FIG> and <FIG>. As illustrated in <FIG>, servo amplifier device <NUM> has a thin box shape in outer appearance. That is, amplifier housing <NUM> having a rectangular parallelepiped shape with a pair of first surfaces, a pair of second surfaces, and a pair of third surfaces forms a foundation part in the outer appearance of servo amplifier device <NUM>. As illustrated in <FIG>, the pair of first surfaces are side surfaces <NUM> each having the largest area. As illustrated in <FIG>, the pair of second surfaces perpendicular to side surfaces <NUM>, which are the first surfaces, are upper surface 114t and lower surface 114b. As illustrated in <FIG>, the pair of third surfaces perpendicular to the first surfaces and the second surfaces are front surface <NUM> and back surface <NUM>.

Hereinafter, a direction in which the pair of side surfaces <NUM> face each other will be described as a width direction, a direction in which upper surface 114t and lower surface 114b face each other will be described as a height direction, and a direction in which front surface <NUM> and back surface <NUM> face each other will be described as a depth direction. In particular, for convenience, in the height direction illustrated in <FIG>, a side of upper surface 114t will be described as an upper side, and a side of lower surface 114b will be described as a lower side. In a similar manner, in the depth direction, a side of front surface <NUM> will be described as a front side, and a side of back surface <NUM> will be described as a back side. Therefore, as illustrated in <FIG>, servo amplifier device <NUM> has a box shape in which the height direction and the depth direction are almost the same in the length, and the width direction is thinner than the height direction and the depth direction.

Next, a detailed configuration of the respective surfaces constituting the outer shape of servo amplifier device <NUM> will be described.

As illustrated in <FIG>, as a basic configuration of multiaxis servo control device <NUM>, power supply device <NUM> and each servo amplifier device <NUM> are arranged in the width direction perpendicular to side surfaces <NUM> of each servo amplifier device <NUM>. In other words, three servo amplifier devices <NUM> are arranged side by side in the normal direction with respect to side surfaces <NUM>, which are the first surfaces. Therefore, as illustrated in <FIG>, in servo amplifier device <NUM>, on both side surfaces <NUM>, basically, no member is configured to be disposed except for a fixing member such as a bolt for fixing a side plate. Both side surfaces <NUM> are flat surfaces without a protrusion.

In multiaxis servo control device <NUM>, back surfaces <NUM> of servo amplifier devices <NUM> are basically fixed. Therefore, attachment portion <NUM> for fixing servo amplifier device <NUM> itself to installation board <NUM> is provided on a side of back surface <NUM>. As an installation member for installing servo amplifier device <NUM>, as illustrated in <FIG>, installation board <NUM> is configured with base portion <NUM> that serves as a base when servo amplifier device <NUM> is disposed at an installation place, and attachment plate <NUM> that extends in the height direction from base portion <NUM> and spreads in a plate shape. In order to fix back surface <NUM> of servo amplifier device <NUM> to installation board <NUM>, no member is configured to be disposed on the surface of back surface <NUM> in a similar manner to side surfaces <NUM>. As illustrated in <FIG>, attachment portion <NUM> includes, on the side of back surface <NUM>, upper attachment portion 33t having a small area of a plate shape and extending upward in the height direction from the surface of back surface <NUM> of amplifier housing <NUM>, and lower attachment portion 33b having a plate shape and extending downward in the height direction. Upper attachment portion 33t and lower attachment portion 33b respectively have attachment holes 34t, 34b to fix servo amplifier device <NUM> itself to installation board <NUM> using a fixing member such as a bolt or a screw. On the basis of such a configuration, the surface of back surface <NUM> of servo amplifier device <NUM> is aligned with the surface of attachment plate <NUM> at a predetermined position of attachment plate <NUM>, and bolt or the like is inserted into each of attachment holes 34t, 34b for bolt-fixing. Accordingly, one servo amplifier device <NUM> is fixed to installation board <NUM>. In <FIG>, bolt 35t is screwed through attachment hole 34t, and bolt 35b is screwed through attachment hole 34b into attachment plate <NUM>, so as to fix servo amplifier device <NUM> itself to installation board <NUM>. Further, in attachment plate <NUM>, screw holes are formed beforehand at positions corresponding to respective positions of attachment holes 34t, 34b, so that the work of attaching and detaching servo amplifier device <NUM> to and from installation board <NUM> is facilitated. Further, by forming a plurality of such screw holes in the lateral direction (the width direction) of attachment plate <NUM>, an additional installation of servo amplifier device <NUM> is facilitated.

As illustrated in <FIG>, in servo amplifier device <NUM>, communication connector <NUM> is disposed on upper surface 114t of amplifier housing <NUM>. Communication connector <NUM> is a connector for connecting communication line <NUM>. To communication connector <NUM>, a communication signal is supplied from host controller <NUM> to servo amplifier device <NUM> via communication line <NUM> and communication connector <NUM>. <FIG> illustrates an example in which a plurality of types of communication connectors <NUM> compliant with each communication type or specification are arranged on upper surface 114t. I/O (input/output) connector 41a is disposed on upper surface 114t of amplifier housing <NUM>. I/O connector 41a is used, for example, for inputting or outputting an input signal from each type of switch or sensor or an output signal or the like for driving a relay or the like, which is mounted on a processing machine controlled by the multiaxis servo control device. Furthermore, as illustrated in <FIG>, heat radiation holes <NUM> for heat radiation and the like are formed on upper surface 114t of amplifier housing <NUM>.

In servo amplifier device <NUM>, motor driving connector <NUM> and encoder connector <NUM> are disposed on lower surface 114b of amplifier housing <NUM>. Motor driving connector <NUM> is a connector for connecting drive line <NUM>. A drive voltage is supplied from servo amplifier device <NUM> to motor <NUM> via motor driving connector <NUM> and drive line <NUM>. Encoder connector <NUM> is a connector for connecting encoder line <NUM>. A detection signal indicating a detection position and the like is supplied from motor <NUM> to servo amplifier device <NUM> via encoder line <NUM> and encoder connector <NUM>.

In this manner, in the present exemplary embodiment, the connectors for making connections are disposed separately on the side of upper surface 114t and on the side of lower surface 114b of servo amplifier device <NUM> depending on the function. Therefore, as can be understood from <FIG>, an empty space on the side of upper surface 114t is available for each servo amplifier device <NUM> installed on installation board <NUM> for wiring of a connection with host controller <NUM>, such as communication line <NUM>. An empty space on the side of lower surface 114b is available for wiring of a connection between drive line <NUM>, encoder line <NUM>, or the like and motor <NUM>. In this manner, in the present exemplary embodiment, regarding the arrangements of the connectors and the space for the wiring process associated with such arrangements, the side of upper surface 114t and the side of lower surface 114b of servo amplifier device <NUM> are separated depending on the function. Accordingly, ease of wiring is achieved, and work efficiency in line processing is also improved.

<FIG> is a front view illustrating front surface <NUM> of servo amplifier device <NUM>. A configuration of front surface <NUM> constituting amplifier housing <NUM> of servo amplifier device <NUM> will be described with reference to <FIG>, <FIG>, and <FIG>. As illustrated in <FIG>, front surface <NUM> of amplifier housing <NUM> is divided into front surface upper portion 112t, front surface middle portion 112c, and front surface lower portion 112b from upper surface 114t to lower surface 114b in the height direction. In brief, on front surface <NUM>, a display unit for displaying information simply with a display member, and a DC power supply connection unit for connecting a DC power supply are disposed. Front surface upper portion 112t serves as an interface area including the display unit. Front surface middle portion 112c, which is closer to the center than the display unit is, serves as an area for power supply distribution that is the DC power supply connection unit.

In front surface lower portion 112b, at its lower part, ground terminal <NUM> for connecting to the ground is provided. Front surface lower portion 112b has a flat shape except for ground terminal <NUM>.

In front surface upper portion 112t, seven-segment display 23d as a display member is disposed to constitute the display unit. <FIG> illustrate an example in which two seven-segment displays 23d are disposed.

A more specific configuration of front surface upper portion 112t will be described. Front surface upper portion 112t includes upper door <NUM>, which is transparent and is a vertically openable door. The main body side in the depth direction with respect to upper door <NUM>, which is closed, is defined as member arrangement portion <NUM>, in which a member for a simple interface and the like are arranged. In member arrangement portion <NUM>, a member for device address setting including seven-segment displays 23d and a member for a simple operation by a user are arranged. Upper door <NUM> is a door that is made of a resin and that is openable and closable in a vertically openable manner. Upper door <NUM> is openable and closable to rotate vertically around the vicinity of upper surface 114t, when viewed from the lateral direction. An operation unit is attached to member arrangement portion <NUM> such that an operation for servo amplifier device <NUM> is enabled with upper door <NUM> opened. More specifically, member arrangement portion <NUM> is equipped with rotary switch <NUM>, a USB connector, and the like, in addition to seven-segment displays 23d. By closing upper door <NUM>, front surface upper portion 112t becomes a flat surface, and as illustrated in <FIG> and <FIG>, the display of seven-segment displays 23d that emit light becomes visible through upper door <NUM>.

In front surface middle portion 112c, as described above, split bus bars <NUM> that connect the devices are used for constituting the DC power supply line for supplying the DC power so as to supply the power to each servo amplifier device <NUM>. For this reason, in servo amplifier device <NUM>, front surface middle portion 112c serves as DC power supply connection unit <NUM> to be described next. That is, a bus bar connector configured to connect the metal plate of split bus bar <NUM> is disposed in DC power supply connection unit <NUM>. More specifically, split bus bar <NUM> is configured to be an insertion plug type. In front surface middle portion 112c, as bus bar connectors, socket portions <NUM>, into or from which split bus bars <NUM> are respectively insertable and removable, are provided in the main body of servo amplifier device <NUM>. By inserting split bus bar <NUM> into socket portion <NUM>, an electrical connection is established.

A more specific configuration of front surface middle portion 112c will be described below. That is, in a similar manner to front surface upper portion 112t, front surface middle portion 112c also includes middle door <NUM>, which is a vertically openable door. The main body side in the depth direction with respect to middle door <NUM>, which is closed, is defined as DC power supply connection unit <NUM>. Socket portions <NUM> are disposed in DC power supply connection unit <NUM>. Middle door <NUM> is also an openable and closable door in a vertically openable manner, and is openable and closable to rotate vertically around the vicinity the upper side of front surface middle portion 112c, when viewed from the lateral direction.

In front surface middle portion 112c, two socket portions <NUM>, into each of which split bus bar <NUM> is insertable and removeable, are disposed. <FIG> illustrates a view of servo amplifier device <NUM> with middle door <NUM> closed, when viewed from the front surface. In <FIG>, a state in which split bus bars <NUM> are respectively attached to socket portions <NUM> are each indicated by a broken line. <FIG> illustrates a state in which no split bus bar <NUM> is attached. <FIG> illustrates a state in which split bus bars <NUM> are attached only to one sides of both socket portions <NUM>. In the following, a detailed configuration in DC power supply connection unit <NUM> will be described with reference to these drawings.

One of two socket portions <NUM> serves as a high-voltage DC power supply. One socket portion <NUM> is for, for example, rectifying an AC commercial power supply voltage into a DC, and supplying a stabilized DC voltage of a hundred and several tens volts to several hundred volts. This high-voltage DC power is mainly supplied to the drive unit of servo amplifier device <NUM> to be used for driving motor <NUM>. Another socket portion <NUM> serves as a low-voltage DC power supply. Another socket portion <NUM> is, for example, a DC voltage of more than or equal to five volts and less than or equal to <NUM> volts. This low-voltage DC power is mainly supplied to the controller of servo amplifier device <NUM> to be used for controlling motor <NUM>.

Socket portion <NUM> includes a pair of a positive electrode side terminal and a negative electrode side terminal at a DC voltage to be supplied, an input side terminal, and an output side terminal. Socket portion <NUM> includes four terminals in total.

Specifically, as illustrated in <FIG>, socket portion <NUM>, which is socket portion <NUM> closer to front surface upper portion 112t, is configured for the high-voltage DC power supply, whereas socket portion <NUM>, which is socket portion <NUM> closer to front surface lower portion 112b, is configured for the low-voltage DC power supply. In socket portion <NUM>, a pair of terminals on one side in the lateral direction serve as the input side terminal, and a pair of terminals on the other side in the lateral direction serve as the output side terminal. In <FIG>, a terminal on a side with which no split bus bar <NUM> is connected is configured as an input side terminal, and a terminal on a side with which split bus bar <NUM> is connected is configured as an output side terminal. With the present configuration, in socket portion <NUM>, a high positive voltage DC+ is supplied to a positive electrode terminal on the input side, and a high negative voltage DC-is input into a negative electrode terminal on the input side. The high positive voltage DC+ is output from a positive electrode terminal on the output side, and the high negative voltage DC- is output from a negative electrode terminal on the output side. In a similar manner, in socket portion <NUM>, a low positive voltage Vcc+ and a low negative voltage Vcc- are input into a terminal on the input side, and the low positive voltage Vcc+ and the low negative voltage Vcc-are output from a terminal on the output side.

As described above, in the present exemplary embodiment, split bus bar <NUM> is configured to be insertable and removable into and from socket portion <NUM>. In order to enable this insertion and removal, the four terminals in socket portion <NUM> serve as blade receiving portion <NUM> having a structure in which two metal plates 27b each having a spring property are brought into face-to-face contact.

To correspond to socket portion <NUM>, split bus bar <NUM> is configured with two metal bars 55b each being formed of a metal plate, and bar holding portion 55r that holds two metal bars 55b respectively at two positions. As illustrated in <FIG>, metal bars 55b respectively correspond to the positive side and the negative side of socket portion <NUM>. Bar holding portions 55r respectively correspond to the input side and the output side of socket portion <NUM>. Metal bar 55b includes protruding blades (not illustrated) that protrude from metal bar 55b in a direction opposite to bar holding portion 55r in the vicinity of both ends of each metal bar 55b. That is, by inserting the protruding blade of split bus bar <NUM> into blade receiving portion <NUM> of socket portion <NUM>, two metal plates 27b of blade receiving portion <NUM> sandwich the protruding blade. Accordingly, metal bar 55b and blade receiving portion <NUM> are electrically connected with each other.

<FIG> illustrates a state in which split bus bars <NUM> are respectively inserted into the output sides of socket portions <NUM>, based on the above configuration. As illustrated in <FIG>, split bus bar <NUM> is connected across the output side of certain servo amplifier device <NUM> and the input side of servo amplifier device <NUM>, which is adjacent. Accordingly, the DC power is supplied between servo amplifier devices <NUM> adjacent to each other. That is, by sequentially connecting split bus bars <NUM> in an adjacent direction, the DC power supply line for supplying the DC power to each servo amplifier device <NUM> can be configured. In this manner, in the present exemplary embodiment, the power supply is configured to be a bus bar type. Therefore, the power supply is enabled in a simple operation of inserting split bus bar <NUM> without complexity and poor work efficiency in the wiring process, such as entanglement of lines. After insertion of split bus bar <NUM> is completed, middle door <NUM> is closed, so that safety such as prevention of electric shock can be easily ensured.

Next, a detailed description will be given with regard to multiaxis servo control device <NUM> configured by using a plurality of servo amplifier devices <NUM> each having the above-described configuration.

The outline has been described above. As illustrated in <FIG>, multiaxis servo control device <NUM> is configured by installing a plurality of servo amplifier devices <NUM> and one power supply device <NUM> that supplies the DC power to each of servo amplifier devices <NUM>, on installation board <NUM>. In addition, power supply device <NUM> and servo amplifier devices <NUM> have the same dimension in the height direction, power supply device <NUM> and servo amplifier devices <NUM> have the same dimension in the depth direction, and power supply device <NUM> is disposed at an end in the width direction with respect to the plurality of servo amplifier devices <NUM>. <FIG> is a configuration diagram in which power supply device <NUM> and the plurality of servo amplifier devices <NUM> according to the exemplary embodiment of the present invention are arranged side by side in the width direction.

In such multiaxis servo control device <NUM>, the configuration of each servo amplifier device <NUM> has been described above. A configuration of power supply device <NUM> will be described.

As illustrated in <FIG>, power supply device <NUM> disposed side by side with respective servo amplifier devices <NUM> also has a thin box shape in the outer appearance in a similar manner to servo amplifier devices <NUM>. That is, in power supply device <NUM>, power supply housing <NUM> having a rectangular parallelepiped shape including a pair of first surfaces, a pair of second surfaces, and a pair of third surfaces forms the foundation part in the outer appearance. A power supply circuit that generates the DC power is housed in power supply housing <NUM>. Then, in a similar manner to servo amplifier devices <NUM>, the pair of first surfaces are side surfaces each having the largest area, the second surfaces are the upper surface and the lower surface, and the third surfaces are the front surface and the back surface. <FIG> illustrates a state in which power supply device <NUM> is viewed from the front surface.

In a similar manner to servo amplifier devices <NUM>, both side surfaces of power supply device <NUM> are basically configured such that no member is disposed except for a fixing member such as a bolt for fixing a side plate. Both side surfaces are flat surfaces without a protrusion. In a similar manner to servo amplifier devices <NUM>, no member is configured to be disposed on the back surface of power supply device <NUM>. Similar to servo amplifier devices <NUM>, attachment portion <NUM> including upper attachment portion 33t and lower attachment portion 33b is provided as a power supply attachment portion to be attached to the installation member. Upper attachment portion 33t and lower attachment portion 33b respectively have attachment holes 34t, 34b. By inserting a bolt into attachment holes 34t, 34b for bolt-fixing, power supply device <NUM> is fixed to installation board <NUM>. In power supply device <NUM>, from its lower surface, commercial power supply input line <NUM> to be connected with AC power supply <NUM> is drawn out.

Front surface of power supply device <NUM> has a configuration as illustrated in <FIG>. In a similar manner to servo amplifier device <NUM>, the front surface of power supply device <NUM> is also divided into front surface upper portion 512t, front surface middle portion 512c, and front surface lower portion 512b from the upper surface side toward the lower surface side in the height direction. The dimensions in the height direction of front surface upper portion 512t, front surface middle portion 512c, and front surface lower portion 512b also coincide with front surface upper portions 112t, front surface middle portions 112c, and front surface lower portions 112b of servo amplifier devices <NUM>.

In front surface lower portion 512b of power supply device <NUM>, ground terminal <NUM> is provided at a lower part of front surface lower portion 512b, in a similar manner to servo amplifier devices <NUM>. Front surface lower portion 512b has a flat surface except for ground terminal <NUM>. Power supply device <NUM> is configured such that nothing is disposed on front surface upper portion 512t, so that front surface upper portion 512t has a flat surface.

As can be understood from the above description, in front surface middle portion 512c of power supply device <NUM>, the DC power is supplied by using split bus bars <NUM>. That is, as illustrated in <FIG> and <FIG>, the DC power supply lines are formed in the width direction in front surface middle portion 512c of power supply device <NUM> and front surface middle portion 112c of each servo amplifier device <NUM>. The DC power output from power supply device <NUM> is supplied to each servo amplifier device <NUM> via the DC power supply lines configured as described above.

Amore specific configuration of front surface middle portion 512c will be described next. That is, power supply device <NUM> includes middle door <NUM>, which is a vertically openable door, in front surface middle portion 512c. The main body side in the depth direction with respect to middle door <NUM>, which is closed, is defined as DC power supply output unit <NUM>. In a similar manner to servo amplifier devices <NUM>, two socket portions <NUM> are disposed in DC power supply output unit <NUM>. Note that <FIG> illustrates power supply device <NUM> in a state in which middle door <NUM> is opened such that DC power supply output unit <NUM> can be seen. Servo amplifier device <NUM> adjacent to power supply device <NUM> indicates a state in which middle door <NUM> is opened, and two other servo amplifier devices <NUM> indicate a state in which middle door <NUM> is closed.

In two socket portions <NUM> of power supply device <NUM>, one socket portion <NUM> on the upper side is used for outputting a high-voltage DC power supply, and for example, a DC voltage of a hundred and several tens volts to several hundred volts is output. Another socket portion <NUM> on the lower side is used for outputting a low-voltage DC power supply, and for example, a DC voltage of more than or equal to five volts to less than or equal to <NUM> volts is output. In this manner, DC power supply output unit <NUM> that outputs the DC power using socket portions <NUM> is disposed in front surface middle portion 512c of power supply device <NUM>.

<FIG> illustrates a state in which split bus bars <NUM> are respectively inserted into socket portions <NUM> of power supply device <NUM> and servo amplifier device <NUM>. Here, an example in which socket portion <NUM> in power supply device <NUM> is only used for outputting the power supply is illustrated, and split bus bar 55p having a different shape from split bus bar 55c for connecting between servo amplifier devices <NUM>. In the following, a description will be given by also referring to the configuration and the like of blade receiving portion <NUM> illustrated in <FIG>. In split bus bar 55c, bar holding portions 55r on both sides respectively correspond to two blade receiving portions <NUM>. In split bus bar 55p, bar holding portion 55r on one side corresponds to four blade receiving portions <NUM>, and bar holding portion 55r on the other side corresponds to two blade receiving portions <NUM>. As illustrated in <FIG> and <FIG>, split bus bar 55p is used for connecting from power supply device <NUM> to servo amplifier device <NUM>, and split bus bar 55c is used for connecting between servo amplifier devices <NUM> to constitute the DC power supply line.

As described above, as illustrated in <FIG>, multiaxis servo control device <NUM> according to the present exemplary embodiment has a configuration in which power supply device <NUM> and the plurality of servo amplifier devices <NUM>, which have been described above, are arranged side by side in the width direction on the plate surface of installation board <NUM>, and are attached through bolt-fixing using attachment portion <NUM>. Multiaxis servo control device <NUM> has such a simple configuration, and thus easily enables an additional installation of servo amplifier device <NUM> or a change in the arrangement configuration of servo amplifier device <NUM> on installation board <NUM>. The DC power supply line for supplying the DC power is configured on front surface <NUM> of power supply device <NUM> and front surfaces <NUM> of the plurality of servo amplifier devices <NUM>. Communication connector <NUM> is disposed on upper surface 114t, and motor driving connector <NUM> and encoder connector <NUM> are disposed on lower surface 114b. Therefore, an empty space on the side of upper surface 114t is available for each servo amplifier device <NUM> for wiring of connection with host controller <NUM>, such as communication line <NUM>. An empty space on the side of lower surface 114b is available for wiring of connection with motor <NUM>, such as drive line <NUM> or encoder line <NUM>. In this manner, according to the present exemplary embodiment, the wiring process can be performed for each function. Therefore, the wiring becomes easy, and a work error or the like can be suppressed.

As described above, servo amplifier device <NUM> according to the present exemplary embodiment is servo amplifier device <NUM> that incorporates a control drive circuit configured to control and drive motor <NUM>, and includes a housing corresponding to amplifier housing <NUM> that houses the control drive circuit, attachment portion <NUM> for attaching the housing to an installation member, DC power supply connection unit <NUM> connected with the DC power supply line to be supplied with DC power, communication connector <NUM> connected with an external controller corresponding to host controller <NUM> to be supplied with a communication signal, motor driving connector <NUM> connected with the drive line that drives motor <NUM>, and the display unit disposed with the display member. The housing has a box shape having a pair of first surfaces <NUM> facing each other and each having the largest area. Communication connector <NUM> and motor driving connector <NUM> are disposed on a pair of second surfaces 114b, 114t, which are perpendicular to first surfaces <NUM> and which face each other. In a pair of third surfaces <NUM>, <NUM>, which are perpendicular to first surfaces <NUM> and second surfaces 114b, 114t and which face each other, one of third surfaces <NUM>, <NUM> is defined as back surface <NUM>, and attachment portion <NUM> is disposed closer to back surface <NUM>. The other one of third surfaces <NUM>, <NUM> is defined as front surface <NUM>, and the display unit and DC power supply connection unit <NUM> are disposed on front surface <NUM>.

With this configuration, this servo amplifier device <NUM> has only to be attached on a side of back surface <NUM>. Thus, this configuration eliminates the need for a dedicated installation member such as a rack structure. For example, the housing can be easily attached to a wall or an inexpensive plate-shaped installation member by using attachment portion <NUM>. Furthermore, in being installed on an installation member or the like, a number of servo amplifier devices <NUM> is no longer limited. In addition, the connector or the connection portion is configured to be distributed to the respective surfaces of the housing according to the function. Therefore, the work efficiency together with the ease of the wiring can be improved.

In addition, the DC power supply line is preferably a bus bar including a metal plate, and DC power supply connection unit <NUM> is a bus bar connector configured to connect the metal plate of the bus bar.

Further, DC power supply connection unit <NUM> is preferably disposed to be closer to the center side than the display unit is on front surface <NUM> of the housing.

Further, preferably, communication connector <NUM> is disposed on one surface of the pair of second surfaces 114b, 114t, and motor driving connector <NUM> is disposed on the other one of the pair of second surfaces 114b, 114t.

Further, the display unit is preferably disposed to be closer to communication connector <NUM> than motor driving connector <NUM> on front surface <NUM> of the housing.

Further, multiaxis servo control device <NUM> according to the present exemplary embodiment is a multiaxis servo control device <NUM> including a plurality of servo amplifier devices <NUM> and configured to control and drive a plurality of motors <NUM>. This multiaxis servo control device <NUM> includes power supply device <NUM> including DC power supply output unit <NUM> that outputs the DC power, and configured to supply the DC power from DC power supply output unit <NUM> to each of servo amplifier devices <NUM>, installation board <NUM>, which is the installation member for attaching power supply device <NUM> and the plurality of servo amplifier devices <NUM>; and the DC power supply line that connects DC power supply connection unit <NUM> of each of servo amplifier devices <NUM>. The plurality of servo amplifier devices <NUM> are arranged side by side in a normal direction with respect to first surfaces <NUM>, and are each attached to installation board <NUM> via attachment portion <NUM> provided closer to back surface <NUM> of the housing.

With such a configuration, each servo amplifier device <NUM> has only to be fixed to the installation member having a simple configuration such as installation board <NUM>. Therefore, an additional installation of servo amplifier device <NUM> or a change in the arrangement configuration of servo amplifier devices <NUM> on the installation board can be easily achieved. Furthermore, in servo amplifier device <NUM>, connectors or connection portions are distributed according to the function to be disposed on the respective surfaces of the housing. Therefore, the wiring process can also be performed for each function, by using a space above or a space below servo amplifier devices <NUM> arranged in the lateral direction. Therefore, the wiring becomes easy, and a work error or the like can be suppressed.

In addition, preferably, a plurality of split bus bars <NUM> each including a metal plate as the DC power supply line is further included, and DC power supply connection units <NUM> included in servo amplifier devices <NUM> adjacent to each other are connected through split bus bar <NUM>.

Further, power supply device <NUM> according to the present exemplary embodiment includes power supply housing <NUM>, which houses a power supply circuit to be supplied with a commercial power supply to generate DC power, a power supply attachment portion corresponding to attachment portion <NUM> for attaching power supply housing <NUM> to installation board <NUM>, and DC power supply output unit <NUM> that outputs the DC power. Power supply housing <NUM> has a box shape having a pair of first surfaces <NUM> facing each other and each having a largest area, commercial power supply input line <NUM> to be supplied with the commercial power supply is disposed on a pair of second surfaces 114b, 114t perpendicular to first surfaces <NUM> and facing each other, on a pair of third surfaces <NUM>, <NUM> perpendicular to first surfaces <NUM> and second surfaces 114b, 114t and facing each other, the power supply attachment portion is disposed closer to back surface <NUM> with one of third surfaces <NUM>, <NUM> being as back surface <NUM>, and DC power supply output unit <NUM> is disposed on front surface <NUM> with the other one of third surfaces <NUM>, <NUM> being as front surface <NUM>.

Further, preferably, power supply device <NUM> and the plurality of servo amplifier devices <NUM> are disposed side by side in a normal direction with respect to first surfaces <NUM>, and are each attached to the installation board via attachment portion <NUM> provided closer to back surface <NUM> of the housing.

In this manner, according to the present exemplary embodiment, multiaxis servo control device <NUM> that performs servo control on the plurality of servo motors constituting multiple axes is achieved with a simple configuration. In addition, servo amplifier device <NUM> and multiaxis servo control device <NUM> in which work efficiency is improved by a configuration in consideration of ease of wiring can be provided.

Claim 1:
A servo amplifier device (<NUM>) that incorporates a control drive circuit configured to control and drive a motor (<NUM>), the servo amplifier device (<NUM>) comprising:
a housing that houses the control drive circuit;
an attachment portion (<NUM>) for attaching the housing to an installation member;
a DC power supply connection unit (<NUM>) connected with a DC power supply line to be supplied with DC power;
a communication connector (<NUM>) connected with an external controller to be supplied with a communication signal;
a motor driving connector (<NUM>) connected with a drive line (<NUM>) for driving the motor (<NUM>); and
a display unit disposed with a display member,
wherein
the housing has a box shape having a pair of first surfaces (<NUM>) facing each other and each having a largest area,
the communication connector (<NUM>) and the motor driving connector (<NUM>) are disposed on a pair of second surfaces (114b, 114t) perpendicular to the first surfaces (<NUM>) and facing each other,
on a pair of third surfaces (<NUM>, <NUM>) perpendicular to the first surfaces (<NUM>) and the second surfaces (114b, 114t) and facing each other, the attachment portion (<NUM>) is disposed on a back surface (<NUM>) side with one of the third surfaces (<NUM>, <NUM>) being as a back surface (<NUM>), and
the display unit and the DC power supply connection unit (<NUM>) are disposed on a front surface (<NUM>) with another one of the third surfaces (<NUM>, <NUM>) being as the front surface (<NUM>).