CN203964930U - A kind of optomagnetic scrambler - Google Patents
A kind of optomagnetic scrambler Download PDFInfo
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- CN203964930U CN203964930U CN201420272029.0U CN201420272029U CN203964930U CN 203964930 U CN203964930 U CN 203964930U CN 201420272029 U CN201420272029 U CN 201420272029U CN 203964930 U CN203964930 U CN 203964930U
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Abstract
The utility model discloses a kind of optomagnetic scrambler, optomagnetic scrambler comprises magnetic test section, optical detection part and control circuit unit, wherein, in control circuit unit, there is analog to digital conversion circuit, reference position counting circuit and rotation angle counting circuit, by analog to digital conversion circuit, convert the simulating signal of optical detection part to digital signal, again in conjunction with the digital signal of magnetic test section, determine the reference position signal of scrambler while powering on, after scrambler powers on, the digital signal of exporting by analog to digital conversion circuit, in conjunction with reference position signal, export rotation angle signal again.The mode that optomagnetic scrambler of the present utility model adopts magnetic coder and optical encoder to combine can be exported absolute position encoder signal when scrambler powers on each time, and it is little that scrambler has volume, the feature that precision is high.
Description
Technical field
The utility model belongs to encoder techniques field, is specifically related to a kind of optomagnetic scrambler.
Background technology
Absolute type encoder, is usually used in the anglec of rotation of instrument or equipment to carry out testing and calibration.Traditional absolute encoding, along with coding figure place is different, accuracy requirement is different, corresponding code-disc area, detection head quantity all will increase in proportion.In many instances, need to meet the high-precision requirement that simultaneously meets coder structure compactness.At present, novel absolute type encoder is generally encoded based on modes such as calibration-matrix coder, M sequence pseudo random codes.Compared with traditional absolute encoding, above-mentioned two kinds of absolute types can obtain described pseudo-random code coded system can dwindle code-disc/grid chi area, reduces detection head quantity, still guarantees the requirement of high-precision high-speed when reducing scrambler size.The scrambler of pseudo-random code coding form, because being adopts serial code, if caused when the information of not preserving before power-off last time, again go up photoelectric coder and cannot obtain actual true angle information, thereby need scrambler to turn an angle, could obtain actual physical location (anglec of rotation is different and different with coding figure place), therefore, belong to a kind of accurate absolute type encoder.The scrambler of calibration-matrix coder form, belongs to pure absolute type encoder, but its volume is often greater than the scrambler based on pseudo-random code coding.Therefore above-mentioned two kinds of novel absolute type encoders, still have that volume is large, a shortcoming of drop-out after power down.
Utility model content
The utility model provides a kind of optomagnetic scrambler, and the light coding of the magnetic coding of absolute type and increment type is combined, and has overcome existing absolute type encoder volume large, the problem of drop-out after incremental encoder power down.
To achieve these goals, optomagnetic scrambler of the present utility model, comprising: magnetic test section, comprise magnet and Magnetic Sensor, and magnet is fixedly mounted on rotary main shaft, according to the magnet that rotarily drives of rotary main shaft, rotates, and from Magnetic Sensor output digit signals; Optical detection part, comprises light source, code-disc, quiet grating and optical sensor, the irradiation code-disc of light source and quiet grating, and the code-disc that rotarily drives by rotary main shaft rotates, and from optical sensor outputting analog signal; Control circuit unit, connects respectively Magnetic Sensor and optical sensor, utilizes the digital signal of Magnetic Sensor output and the simulating signal of optical sensor output to calculate and determine the anglec of rotation of rotary main shaft;
Described control circuit unit comprises: analog to digital conversion circuit, be connected with the optical sensor of optical detection part, and the simulating signal of optical sensor output is converted to digital signal; Reference position counting circuit, connects respectively Magnetic Sensor and analog to digital conversion circuit, utilizes the digital signal of analog to digital conversion circuit output while powering on and the digital signal of magnetic test section output to calculate and export reference position signal; Rotation angle counting circuit, connects respectively reference position counting circuit and analog to digital conversion circuit, utilizes the digital signal of the analog to digital conversion circuit output after powering on, and the initial position signal while powering on, and calculates and export rotation angle signal.
It is A phase code channel and the B phase code channel of 90 ° that described code-disc is provided with phase differential, and is all respectively equipped with 2 on A phase code channel and B phase code channel
nthe individual light shielding part being spacedly distributed and transmittance section.
Preferably, it is A phase code channel and the A ＇ phase code channel of 180 ° that described code-disc is provided with phase differential, with A phase code channel phase differential be the B phase code channel of 90 °, with B phase code channel phase differential be the B ＇ phase code channel of 180 °, and be respectively equipped with 2 on A phase code channel, A ＇ phase code channel, B phase code channel, B ＇ phase code channel
nthe individual light shielding part being spacedly distributed and transmittance section.
Preferably, described analog to digital conversion circuit comprises A phase differential amplifier circuit, B phase differential amplifier circuit and AD converter, and A phase differential amplifier circuit, B phase differential amplifier circuit are connected optical sensor respectively with AD converter.
Owing to having adopted technique scheme, the beneficial effects of the utility model are:
Optomagnetic scrambler of the present utility model, combines the light coding of the magnetic coding of absolute type and increment type, can obtain the specific coding of reference position when powering on each time, forms a kind of absolute type encoder, has advantages of that volume is little, precision is high.
Accompanying drawing explanation
Fig. 1 is optomagnetic scrambler cut-open view of the present utility model.
Fig. 2 is the control circuit unit block scheme of optomagnetic scrambler of the present utility model.
Fig. 3 is code-disc planimetric map of the present utility model.
Fig. 4 is the block diagram of the coding method of optomagnetic device of the present utility model.
Fig. 5 is union operation key diagram of the present utility model.
Fig. 6 is the key diagram of position quantity signal Y of the present utility model.
Fig. 7 is the code-disc partial enlarged drawing of embodiment 1 of the present utility model.
Fig. 8 is the code-disc partial enlarged drawing of embodiment 2 of the present utility model.
Mark in figure:
10-control circuit unit, 11-analog to digital conversion circuit, 11A-A phase differential amplifier circuit, 11B-B phase differential amplifier circuit, 11C-AD converter, 12-rotation angle counting circuit, 13-reference position counting circuit, 20-magnetic test section, 21-Magnetic Sensor, 22-magnet, 30-optical detection part, 31-light source, 32-code-disc, 32A-A phase code channel, 32A ＇-A ＇ phase code channel, 32B-B phase code channel, 32B ＇-B ＇ phase code channel, the quiet grating of 33-, 34-optical sensor, 40-rotary main shaft.
Embodiment
With reference to Fig. 1-3, optomagnetic scrambler embodiment of the present utility model, comprises magnetic test section 20, optical detection part 30, control circuit unit 10.Wherein magnetic test section 20 comprises magnet 22 and Magnetic Sensor 21, and magnet 22 is fixedly mounted on rotary main shaft 40, according to the magnet 22 that rotarily drives of rotary main shaft 40, rotate, and from Magnetic Sensor 21 output digit signals.Optical detection part 30 comprises light source 31, code-disc 32, quiet grating 33 and optical sensor 34, the irradiation code-disc 32 of light source 31 and quiet grating 33, by rotary main shaft 40 rotarily drive code-disc 32 rotation, and from optical sensor 34 outputting analog signals.
Control circuit unit 10 comprises analog to digital conversion circuit 11, reference position counting circuit 13 and rotation angle counting circuit 12, analog to digital conversion circuit 11 comprises A phase differential amplifier circuit 11A, B phase differential amplifier circuit 11B and AD converter 11C, and A phase differential amplifier circuit 11A, B phase differential amplifier circuit 11B are connected optical sensor 34 respectively with AD converter 11C.The output terminal of AD converter 11C is connected respectively in reference position counting circuit 13 and rotation angle counting circuit 12.Reference position counting circuit 13 connects respectively Magnetic Sensor 21 and analog to digital conversion circuit 11, and in utilization, reference position signal is calculated and exported to the digital signal of the digital signal of analog to digital conversion circuit 11 outputs and Magnetic Sensor 21 outputs.Rotation angle counting circuit 12 connects respectively reference position counting circuit 13 and analog to digital conversion circuit 11, utilizes the digital signal of the increment type of analog to digital conversion circuit 11 outputs after powering on, and initial position signal, calculates and export rotation angle signal.
It is A phase code channel 32A and the B phase code channel 32B of 90 ° that code-disc 32 is provided with phase differential, and is all respectively equipped with 2 on A phase code channel 32A and B phase code channel 32B
nthe individual light shielding part being spacedly distributed and transmittance section.In order to increase the anti-interference of the simulating signal of optical sensor 34 output, phase differential to be set on code-disc 32 again, be the A ＇ phase code channel 32A ＇ and B ＇ phase code channel 32B ＇ of 90 °, and the phase differential of A phase code channel 32A and A ＇ phase code channel 32A ＇ it is 180 °.On A ＇ phase code channel 32A ＇, B ＇ phase code channel 32B ＇, be also respectively equipped with 2
nthe individual light shielding part being spacedly distributed and transmittance section.
With reference to Fig. 4-Fig. 8, the coding method of optomagnetic scrambler of the present utility model, illustrates by following two embodiment.
Embodiment 1:
S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft 40, from the magnetic test section digital signal X1 of Magnetic Sensor 21 outputs, be 0,001 0,001 0,001 0001, retain its high N position, the present embodiment N gets 8, after reservation most-significant byte, be 0,001 0,001 0,000 0000, thereby the scope that rotary main shaft 40 is rotated a circle is divided into 2
8the individual zoning Z that can meet accuracy requirement.The object that retains high N position is, when adopting the magnetic coding portion 20 of 16, its resolution can reach 16, but precision that can be definite can reach and reach at most 11 at most.So the present embodiment is in order to reach higher accuracy requirement, magnetic test section digital signal X1 retains most-significant byte.A, A ＇, B, the B ＇ phase code channel of the code-disc 32 of optical detection part 30 are also provided with 2 simultaneously
8individual light shielding part and transmittance section, when the light step-and-shoot of light source 31 is during at the A of code-disc 32, A ＇, B, B ＇ phase code channel, can export respectively the sine wave signal with certain phase differential.
S2: from the optical detection part simulating signal of optical sensor 34 outputs, after analog to digital conversion circuit 11, export respectively A phase digital signal 1,000 1010 (decimal number 10, symbol for just) and B phase digital signal 1,001 0100 (decimal number 20, symbol for just).AD converter 11C adopts 8 bit resolutions, and most significant digit is sign bit, when most significant digit be 0 for negative, be 1 for just.
As shown in Figure 6, A phase digital signal and B phase digital signal are all positioned at first quartile, after division arithmetic, and A/B=0.5, then pass through arctangent cp cp operation arctan (A/B), trying to achieve angle value is 26 °.Because the phase differential of A phase code channel and B phase code channel is 90 °, in the present embodiment, code-disc 32 when being rotated counterclockwise, backward 90 ° than B phase signals of A phase signals, thus A phase digital signal and B phase digital signal respectively corresponding analog signals be sin θ and cos θ, pass through division arithmetic, be A/B=sin θ/cos θ=tan θ, then by arctangent cp cp operation, arctan (tan θ), can obtain θ value, the θ of the present embodiment is 26 °.If code-disc 32 is when turning clockwise, leading 90 ° than B phase signals of A phase signals, therefore A phase digital signal and B phase digital signal respectively corresponding analog signals be sin θ and-cos θ, by division arithmetic, i.e. A/B=sin θ/-cos θ=-tan θ, before carrying out arctangent cp cp operation, need first A/B to be got after opposite number, carry out arctangent cp cp operation, arctan (A/B), can obtain θ value again.
Light sense cycle △ is segmented, segmentation umber the present embodiment is got 256 parts, again by 26 °/360 ° * 256=18.5, round is 19, the position quantity signal Y that obtains reference position place light sense cycle △ is 19, corresponding binary number is 0,001 0011 (after a light sense cycle △ segmentation, from its origin-to-destination, corresponding binary number is from 0,000 0000 to 1,111 1111).
S3: with reference to Fig. 7, judge the 0001 0,001 00010001 boundary value M that whether surpasses the magnetic test section 20 zoning Z in the light sense cycle △ at its place of the magnetic test section digital signal X1 of reference position output.
Magnetic test section 20 digital signal X1 (0,001 0,001 0,001 0001) and position quantity signal Y (00010011) are done to subtraction, obtain magnetic test section digital signal X2 (0,001 0,000 1,111 1110) corresponding to starting point of the light sense cycle △ at reference position place, the 9th of magnetic test section digital signal X2 is 1, illustrate that the starting point of light sense cycle △ is positioned at the second half section of zoning Z, the error condition that light sense cycle △ and magnetic test section zoning Z are described, belongs to situation shown in Fig. 7.During judgement, the 9th of magnetic test section digital signal X1 (0,001 0,001 0,001 0001) is 0, illustrate that this magnetic test section digital signal X1 is positioned at the first half section of zoning Z, and position quantity signal Y (0,001 0011) is less than the intermediate value 128 of light sense cycle △, illustrate that magnetic test section digital signal X1 (0,001 0,001 0,001 0001) has surpassed boundary value M.
When surpassing boundary value M, after magnetic test section digital signal X1 is retained to (0,001 0,001 00000000) after most-significant byte the 8th and subtracts 1 (0,001 0,000 0,000 0000) and position quantity signal Y (0,001 0011) union operation of optical detection part 30, obtain reference position signal (0,001 0,000 0,001 0011).The process of union operation, is about to lowest order alignment, then by operation of bits, obtains last operation result.
S4: after scrambler powers on, in conjunction with A phase digital signal and B phase digital signal rotate to again after certain angle, the increment signal of formation, in conjunction with reference position signal (0,001 0,000 0,001 0011), utilize conventional light increment type encryption algorithm, obtain rotation angle signal.Because light increment type encryption algorithm is prior art, therefore do not repeat them here.
Embodiment 2:
S1: when scrambler powers on, according to the rotation of scrambler rotary main shaft 40, from the magnetic test section digital signal X1 of Magnetic Sensor 21 output, being 0,001 1,101 0,001 0001, is that 0,001 11,010,000 0000 scope that rotary main shaft 40 is rotated a circle is divided into 2 thereby retain after its most-significant byte
8individual zoning Z.A, A ＇, B, the B ＇ phase code channel of the code-disc 32 of optical detection part 30 are also provided with 2 simultaneously
8individual light shielding part and transmittance section.
S2: from the optical detection part simulating signal of optical sensor 34 outputs, after analog to digital conversion circuit 11, export respectively A phase digital signal 0,000 1010 (decimal number 10, symbol is for negative) and B phase digital signal 0,001 0100 (decimal number 20, symbol is for negative), as shown in Figure 6, A phase digital signal and B phase digital signal are all positioned at fourth quadrant, after division arithmetic, A/B=0.5, then pass through arctangent cp cp operation, trying to achieve angle value is 26 °, due in fourth quadrant, so actual angle value should be 360 °-26 °=334 °.Light sense cycle △ is segmented, and segmentation mark gets 256, then by 334 °/360 ° * 256=237.5, rounding is 238, and the position quantity signal Y that obtains reference position place light sense cycle △ is 238, and corresponding binary number is 1,110 1110.
S3: with reference to Fig. 8, judge the 0001 1,101 00010001 boundary value M that whether surpasses the magnetic test section 20 zoning Z in the light sense cycle △ at its place of the magnetic test section digital signal X1 of reference position output.
Magnetic test section digital signal X1 (0,001 1,101 0,001 0001) and position quantity signal Y (1,110 1110) are done to subtraction, magnetic test section digital signal X2 corresponding to starting point that obtains the light sense cycle △ at reference position place is 0,001 1,100 0,010 0011, the 9th of magnetic test section digital signal X2 is 0, illustrate that the starting point of light sense cycle △ is positioned at the first half section of zoning Z, during judgement, the 9th of magnetic test section digital signal X1 (0,001 1,101 0,001 0001) is 0, illustrate that X1 is positioned at the first half section of zoning Z, and position quantity signal Y (1,110 1110) is greater than the intermediate value 128 of light sense cycle △, illustrate that magnetic test section digital signal X1 (0,001 1,101 0,001 0001) has surpassed boundary value M.
When surpassing boundary value M, after magnetic test section digital signal X1 is retained to (0,001 1,101 00000000) after most-significant byte the 8th and subtracts 1 (0,001 1,100 0,000 0000) and position quantity signal Y (1,110 1110) union operation of optical detection part 30, obtain reference position signal (0,001 1,100 1,110 1110).
S4: after scrambler powers on, in conjunction with A phase and the increment signal of B phase, and reference position signal (00,011,100 1,110 1110), with conventional light increment type encryption algorithm, obtains rotation angle signal.
Claims (3)
1. an optomagnetic scrambler, is characterized in that, comprising:
Magnetic test section (20), comprise magnet (22) and Magnetic Sensor (21), magnet (22) is fixedly mounted on rotary main shaft (40), according to the magnet (22) that rotarily drives of rotary main shaft (40), rotate, and from Magnetic Sensor (21) output digit signals;
Optical detection part (30), comprise light source (31), code-disc (32), quiet grating (33) and optical sensor (34), the irradiation code-disc (32) of light source (31) and quiet grating (33), the code-disc (32) that rotarily drives by rotary main shaft (40) rotates, and from optical sensor (34) outputting analog signal;
Control circuit unit (10), connect respectively Magnetic Sensor (21) and optical sensor (34), utilize the magnetic test section digital signal of Magnetic Sensor (21) output and the simulating signal of optical sensor (34) output to calculate and determine the anglec of rotation of rotary main shaft (40);
Described control circuit unit (10) comprising:
Analog to digital conversion circuit (11), is connected with the optical sensor (34) of optical detection part (30), and the simulating signal of optical sensor (34) output is converted to digital signal;
Reference position counting circuit (13), connect respectively Magnetic Sensor (21) and analog to digital conversion circuit (11), utilize the digital signal of analog to digital conversion circuit (11) output while powering on and the digital signal of magnetic test section (20) output to calculate and export reference position signal;
Rotation angle counting circuit (12), connect respectively reference position counting circuit (13) and analog to digital conversion circuit (11), the digital signal of the analog to digital conversion circuit after utilization powers on (11) output, and the initial position signal while powering on, calculate and export rotation angle signal;
It is A phase code channel (32A) and the B phase code channel (32B) of 90 ° that described code-disc (32) is provided with phase differential, and is all respectively equipped with 2 on A phase code channel (32A) and B phase code channel (32B)
nthe individual light shielding part being spacedly distributed and transmittance section.
2. optomagnetic scrambler according to claim 1, it is characterized in that, it is A phase code channel (32A) and the A ＇ phase code channel (32A ＇) of 180 ° that described code-disc (32) is provided with phase differential, with A phase code channel (32A) phase differential be the B phase code channel (32B) of 90 °, with B phase code channel (32B) phase differential be the B ＇ phase code channel (32B ＇) of 180 °, and be respectively equipped with 2 on A phase code channel (32A), A ＇ phase code channel (32A ＇), B phase code channel (32B), B ＇ phase code channel (32B ＇)
nthe individual light shielding part being spacedly distributed and transmittance section.
3. optomagnetic scrambler according to claim 1, it is characterized in that, described analog to digital conversion circuit (11) comprises A phase differential amplifier circuit (11A), B phase differential amplifier circuit (11B) and AD converter (11C), and A phase differential amplifier circuit (11A), B phase differential amplifier circuit (11B) are connected optical sensor (34) respectively with AD converter (11C).
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983291A (en) * | 2014-05-26 | 2014-08-13 | 四川科奥达技术有限公司 | Photomagnetic coder and coding method thereof |
| CN105180976A (en) * | 2015-09-15 | 2015-12-23 | 东菱技术有限公司 | Magneto-electric mixing type absolute value encoder |
| CN105823442A (en) * | 2016-04-14 | 2016-08-03 | 北京航天发射技术研究所 | Method for angle measurement through coded disc signal subdivision and photoelectric collimator |
| CN108673554A (en) * | 2018-08-30 | 2018-10-19 | 遨博（北京）智能科技有限公司 | A kind of joint of robot arm and robot |
| CN110243401A (en) * | 2019-07-26 | 2019-09-17 | 浙江禾川科技股份有限公司 | The decoding apparatus of the photocell of optical encoder and optomagnetic encoder |
| CN111220190A (en) * | 2020-01-19 | 2020-06-02 | 苏州技兴智能设备有限公司 | Photomagnetic rotary multi-turn absolute value encoder |
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2014
- 2014-05-26 CN CN201420272029.0U patent/CN203964930U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103983291A (en) * | 2014-05-26 | 2014-08-13 | 四川科奥达技术有限公司 | Photomagnetic coder and coding method thereof |
| CN103983291B (en) * | 2014-05-26 | 2017-04-12 | 四川科奥达技术有限公司 | Coding method of photomagnetic coder |
| CN105180976A (en) * | 2015-09-15 | 2015-12-23 | 东菱技术有限公司 | Magneto-electric mixing type absolute value encoder |
| CN105823442A (en) * | 2016-04-14 | 2016-08-03 | 北京航天发射技术研究所 | Method for angle measurement through coded disc signal subdivision and photoelectric collimator |
| CN108673554A (en) * | 2018-08-30 | 2018-10-19 | 遨博（北京）智能科技有限公司 | A kind of joint of robot arm and robot |
| CN110243401A (en) * | 2019-07-26 | 2019-09-17 | 浙江禾川科技股份有限公司 | The decoding apparatus of the photocell of optical encoder and optomagnetic encoder |
| WO2021017073A1 (en) * | 2019-07-26 | 2021-02-04 | 浙江禾川科技股份有限公司 | Photocell for optical encoder and decoding apparatus for optical magnetic encoder |
| CN111220190A (en) * | 2020-01-19 | 2020-06-02 | 苏州技兴智能设备有限公司 | Photomagnetic rotary multi-turn absolute value encoder |
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