JPH0236310A - Rotation angle detecting device - Google Patents

Abstract

PURPOSE:To detect the absolute angle of multiple rotation with high accuracy by detecting the number of revolution according to a linear position signal and detecting the absolute angle of a rotary body from the number of revolution and an angle information. CONSTITUTION:When the output shaft 10 of the rotary body rotates, a guide member 12 rotates associatively with it, a spiral guide part 12a formed on the member 12 moves an engaging linear position detector 13 linearly as shown by an arrow, and the detector 13 detects the movement distance and outputs the linear position signal A to a signal processing part 14. At the same time, a rotation angle detection sensor 11 outputs an angle signal B to the processing part 14. Here, the processing part 14 converts the signal A into a corresponding multiple rotation angle value to detect the number of revolution and then detects the rotation angle with the number of revolution and signal B, so the absolute angle of the multiple rotation can be detected with the accuracy of the sensor 11 at all times.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) This invention is useful for detecting the absolute angle (rotation angle) for multiple rotations of a rotating body, such as a joint mechanism of a space manipulator. The present invention relates to a rotation angle detection device used.

(Prior Art) Conventionally, as this type of rotation angle detection device, a sliding type such as a so-called sliding type multi-rotation potentiometer and a deceleration method using a deceleration mechanism are known.

FIG. 4 shows such a sliding rotation angle detection device, in which a resistor 2 is formed in a helical shape around the rotating body 1 to be detected, such as the joint mechanism of a manipulator. , a slider 3 is disposed opposite to and in sliding contact with the resistor 2. As for the absolute angle for multiple rotations, when the rotating body 1 is driven to rotate, the slider 3 slides on the resistor 2 and the rotation angle is detected by measuring the change in the electric potential.

However, the above-mentioned rotation angle detection device has a configuration in which highly accurate detection is difficult unless the slider 3 and resistor 2 are formed to slide accurately, so highly reliable detection is required. However, the problem was that it was difficult to apply it to places where

FIG. 5 shows a rotation angle detection device using the above-mentioned reduction method, in which a reduction mechanism 4 is provided on the output shaft 1a of the rotating body 1, and a rotation angle detection sensor 5 for detecting one rotation is provided on the low speed side of the reduction mechanism 4.
will be established. When detecting the absolute angle for multiple rotations of the rotating body, the rotation angle is detected as one rotation of the rotating body 1 by the rotation angle detection sensor 5 via the deceleration mechanism 4.

However, the above-mentioned rotation angle detection device requires a complex speed reduction mechanism 4 due to its construction, which is troublesome to handle, and the so-called play of the speed reduction mechanism 1 makes it difficult to accurately measure the absolute angle for multiple rotations. difficult to detect;
Similarly, it has the problem that it is difficult to apply it to locations where reliability is required.

In addition, the above-mentioned rotation angle detection devices are configured to record the past state and detect the absolute angle for multiple rotations, so they can be detected with high precision from this point of view as well. This was difficult.

(Problems to be Solved by the Invention) As described above, conventional rotation angle detection devices have problems in that it is difficult to detect absolute angles for multiple rotations with high precision, and reliability is low. .

This invention was made in view of the above circumstances, and is a rotation angle that has a simple configuration and can detect absolute angles for multiple rotations with high precision, thereby improving reliability as much as possible. The purpose is to provide a detection device.

[Structure of the Invention] (Means for Solving the Problems) The present invention includes a rotation angle sensor that detects the rotation angle of one rotation of a rotating body, and a spiral guide portion supported by the rotating body. A guide member and a detection part that is guidedly engaged with the guide part of the guide member and moves linearly with the rotation of the rotating body are fixed, and a linear distance corresponding to the rotation of the rotating body is detected (( a one-line position detection means; and a signal processing means for detecting the rotation angle of the rotating body from the rotational speed determined based on the angle signal of the rotation angle detection sensor and the linear position signal detected by the linear position detection means. It is composed of

(Function) According to the above configuration, the absolute angle of the rotating body is detected by detecting the rotation speed based on the linear position signal detected by the linear position detection means, and from the rotation speed and the angle signal of the rotation angle detection sensor. . Therefore, since the absolute angle for multiple rotations can always be detected with the accuracy of the rotation angle detection sensor, highly reliable and highly accurate detection can be realized.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a rotation angle detection device according to an embodiment of the present invention, in which a rotation angle detection sensor 11 for detecting one rotation angle is attached to an output shaft 10 of a rotating body (not shown). Furthermore, a guide member 12 is fitted onto the output shaft 10 . A spiral guide portion 12a is formed in this guide member 12 in correspondence with the output shaft 10, and this guide portion 1.2a is provided with a detecting portion 13a of a linear position detector 13, which is movable in the direction of the arrow. engage with. This linear position detector 13 is supported by the -1- rotation angle elevation sensor 11, and its output end is connected to the signal processing section 14 to which the signal output end of the rotation angle detection sensor 11 is connected.

In the above configuration, when the output shaft 10 is rotationally driven, the rotation angle e of the rotating body (not shown) is interlocked with the guide member 1.
2 is rotated, and in conjunction with this, the detection section 13a of the linear position detector 13 is linearly moved in the direction of the arrow. Thereby, the linear position detector 13 detects the moving distance and outputs the linear position signal A to the signal processing section 14. First, the linear position signal A is converted into a corresponding multi-rotation angle value. At the same time, the angle signal B from the rotation angle detection sensor 11 is input to the signal processing section 14 . Here, as shown in FIG. 2, when the linear position signal A and the angle signal B are input in step S1, the signal processing unit 14 compares B<180' in step S2, and if the result is YES, the process moves to step S3. Then, the absolute value of the angle signal B is compared with a constant ε (<180°) that is previously set as shown in FIG. 3 in accordance with the error level. Further, if 'o is detected in step S2, step S4
Then, the angle signal B is converted to B-360', and the process moves to step S3. The process of step S4 changes the expression method for expressing the angle of one rotation from 0 to 360" notation to -180".
This is a process for changing the notation to ”~180°.

Next, in step S3, the absolute value Bl<ε of the angle signal B
is YES, the process moves to step S5, where the rotational speed i is calculated using the formula l - linear position signal A/360' (1), and then, in step S6, the rotational angle e is calculated as e=i
X 360'' + angle fff1 No. B - . . . Using the formula (2), the calculation is completed as shown in FIG. 4.

Further, in step S3, the absolute value Bl<ε of the angle signal B
is NO, proceed to step S7, and calculate the rotation speed i using the formula i - linear position signal A+D/360° (3). The rotation angle e is determined and the process ends.

Note that -1- is a constant, and <D< (360°-ε
) is set appropriately within the range.

In this way, the rotation angle detection device has a linear position detector 1.
The number of revolutions is detected from the linear position signal A detected in step 3, and the rotation angle is detected from this number of revolutions and the angle signal B of the rotation angle detection sensor 11. Unlike detecting the rotation angle based on a series of records, since the rotation angle detection sensor 11 can always detect the absolute angle for multiple rotations with high accuracy, it is highly reliable and highly accurate. Detection is realized.

Further, the guide member 12. The linear position detector 13 is connected to the output shaft 10
Because it only needs to be installed in accordance with .

Note that in the above embodiment, the case where the detecting section 13a of the linear position detector 13 is configured to move linearly in a direction substantially perpendicular to the output shaft 10 as the guiding section 12a of the guiding member 12 has been described. However, the present invention is not limited to this, and it is also possible to configure the detection unit 13a to move linearly in the output axis direction. Therefore, the present invention is not limited to the above embodiments, but
It goes without saying that various other modifications can be made without departing from the spirit of the invention.

[Effects of the Invention] As detailed above, according to the present invention, it is possible to detect absolute angles for multiple rotations with high accuracy using a simple configuration, and to improve reliability as much as possible. Thus, it is possible to provide a rotation angle detection device with the above-mentioned characteristics.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing a rotation angle detection device according to an embodiment of the present invention, FIG. 2 is a flowchart shown to explain the operation of FIG. 1, and FIG. 3 is a partial diagram of FIG. 1. FIG. 4 is a diagram shown to explain the details, FIG. 4 is a diagram shown to explain the detection operation of FIG. 1, and FIGS. 4 and 5 are configuration diagrams showing a conventional rotation angle detection device. be. 10...Output shaft, 1],...Rotation angle detection sensor, 1
2... Guide member, 12a... Guide section, 13... Linear position detector, 13a... Detection section, 14... Signal processing section. Applicant's agent Patent attorney Takehiko Suzue

Claims (1)

[Claims] a rotation angle sensor that detects the rotation angle of one rotation of the rotating body; a guide member having a spiral guide portion supported by the rotating body; A linear position detection means having a detection part that moves linearly with the rotation of the rotating body and detecting a linear distance corresponding to the rotation of the rotating body, an angle signal of the rotation angle detection sensor and the linear position detection means A rotation angle detection device comprising: signal processing means for detecting a rotation angle of the rotating body from a rotation speed determined based on a linear position signal detected by the rotation angle detection device.