CN100351612C - Six-sensor style coding device - Google Patents

Abstract

The present invention belongs to the field of the photoelectric sensing technology. The inner side wall of an annular stator is provided with six sensors in the same interval, a permanent magnet is arranged on an axle wire of the inner cavity of the stator, signal output ends of the six magnetic sensors are respectively connected with three amplifiers, signal output ends of the amplifiers are connected with AD converters, signal output ends of the three AD converters are respectively connected with a multiplier, a signal output end of a coefficient corrector is connected with the other end of the multiplier, a signal output end of the multiplier is connected with the input end of a clutch, a signal output end of a synthesizer is used as the input ends of a first memorizer and a second memorizer, another signal output end of the synthesizer and another signal output end of the second memorizer are connected with the input end of the coefficient corrector, and the signal output end of the first memorizer is connected with an angle converter.

Description

Six sensor type code devices

Affiliated technical field

The invention belongs to the photoelectric sense technology field, but specifically a kind of magnetic encoder of measurement axis rotational angle.

Background technology

The rotation photoelectric encoder is that light harvesting, mechanical, electrical technology are in rotating speed, the displacement transducer of one.Its structure and principle of work such as Fig. 1-1, when the scrambler axle drives the code-disc rotation, logical, the dark areas of the light transmission code-disc that light-emitting component sends (perhaps round grating and indication grating), be divided into interrupted light and be received element and receive, produce initialize signal, this signal after follow-up processing of circuit, output pulse signal.Photoelectric encoder has experienced the evolution from the increment type to the absolute type.

During the rotation of incremental encoder axle, drive the grating disc spins, the light that light-emitting component sends is cut into interrupted light by the slit of grating dish, indication grating and is received element and receives, output has corresponding pulse signal, and the increase and decrease of its sense of rotation and number of pulses needs to realize by the direction judgment circuit sum counter at rear portion.Its counting starting point can be set arbitrarily, and can realize infinitely adding up and measuring of multi-turn.The Z signal of a pulse can also sending revolution is as the reference mechanical zero.Fixing when umber of pulse, and when need improving resolution, can utilize A, the B two paths of signals of 90 ° of phase differential, frequency multiplication is carried out in former pulse.Increment of rotation formula scrambler is the output pulse when rotating, and knows its position by counting equipment, and is motionless or when having a power failure when scrambler, relies on the memory internal of counting equipment to remember the position.Like this, after having a power failure, scrambler can not have any moving, when incoming call work, in the scrambler output pulse process, can not have and disturb and pulse-losing, not so, will be offset the zero point of counting equipment memory, and the amount of this skew is unable to find out, and only vicious production result just can know after occurring.The method that solves is to increase reference point, and scrambler is every through reference point, and the into memory area of counting equipment is revised in the reference position.Before reference point, be the accuracy that can not guarantee the position.For this reason, in industry control, just there is each operation to look for reference point earlier, methods such as start small change.Such as, the location of printer scanner is exactly the incremental encoder principle of usefulness, each start, and we can both hear a burst of sound of Pi mile crack, it is just worked then looking for reference zero.The numerically-controlled machine of utilization incremental encoder in the control loop must return zero earlier after the start with each, could correct execution processing instruction.Such method is cumbersome to some industry control project, does not even allow start small change (will know accurate position after the start), so the appearance of absolute encoder has just been arranged.

During the rotation of absolute optical encoder axle, output and position be code (scale-of-two, binary-coded decimal etc.) one to one.Can differentiate positive dirction, displacement from the code size variation, and residing absolute position, need not direction judgment circuit.It has an absolute zero position code, after power failure or shutdown, when start remeasures again, still can read the code that has a power failure or shut down the position exactly, and find the zero-bit code exactly.Absolute encoder is divided from measurement range, and two types of individual pen and multi-turns are arranged.Absolute encoder is to represent the position, angle of axle by reading pattern on the code-wheel, the coded graphics of Fig. 1-2 for simplifying, and actual code-disc is to cut apart more labyrinth.Many roads groove is arranged on the optical code disk, and the per pass groove is from the inside to surface successively with 2 lines, 4 lines, 8 lines, 16 lines ... layout like this, in each position of scrambler, by reading logical (among the figure white part), dark (the deceiving) of per pass groove, obtains one group from 2 ⁰To 2 ^N-12 unique scale codings, this just is called n position absolute encoder.The coded system of absolute encoder has pure binary coding and reflected code etc.Absolute encoder has determined the uniqueness of each position by mechanical location, and it need not power-failure memory, need not to look for reference point, and need not count always, when needs location aware, when just goes to read its position.Like this, the reliability of the noiseproof feature of scrambler, data has improved greatly.Because absolute encoder is better than incremental encoder significantly aspect the location, be applied to angle, linear measure longimetry and positioning control in the various industrial systems more and more.There are some shortcomings that are difficult to overcome in photoelectric encoder

The use aspect:

(1) it is limited that the fragility of glass material makes its impact resistance, has easily brokenly than the occasion of strong motion at some, thereby stability and reliability are difficult to assurance in the case

(2) because ruling span has ultimate value (20 μ m are to 10 μ m), improve resolving power (figure place) if desired, just must increase the code-disc diameter, so be difficult to accomplish miniaturization;

The production aspect:

(1) groove of glass code-disc requires precision very high, and is also very high to the accuracy requirement of mechanical part, so for the product of high resolution, be difficult to reduce cost, precision is high more, and cost performance is just low more comparatively speaking;

(2) to guarantee to measure accurately, very high assembly precision must be arranged, will have influence on the raising of production efficiency like this.

Because there is above shortcoming in photoelectric encoder, bigger in some impacts, perhaps want the less precision of cube higher occasion, be difficult to adhere to specification; The manufacturing accuracy of parts such as high precision code-disc is difficult to reach in addition, and cost is difficult to reduce, and occurs if having with performance low price product, and photoelectric encoder will be in a disadvantageous position in market competition.

At these shortcomings of photoelectric encoder, the development of magnetic encoder in recent years launches just gradually.

Sensor stator and rotor are made with pure iron, and fixed permanent magnet on the stator forms magnetic circuit system.Mill tooth and groove equably on the stator annular end face relative with rotor, the two teeth groove number equates that rotor tightens up with axle, and axle is connected with tested revolving shaft.Axle drives rotor rotation, when rotor tooth is relative with stator tooth, and air gap minimum, whole magnetic circuit magnetic flux maximum; Magnetic flux minimum when tooth is relative with groove.Produce pulse voltage output with coil or magneto sensor induction flux change, change frequency is directly proportional with rotating speed.This type of scrambler survey rotating ratio is more common, and it is very low to be used for surveying the rotational angle precision, can only realize increment output.

Summary of the invention

In order to overcome existing limited, the easy fragmentation of photoelectric encoder impact resistance, high resolution (figure place) just must increase the code-disc diameter, so be difficult to accomplish miniaturization, and precision is low, anti-interference is poor, the processing cost height, the restricted technical deficiency of the scope of application, the invention provides a kind of four-sensor formula magnetic encoder, this code device precision height, vulnerability to jamming be good, guaranteeing can to realize high resolution under the little preceding topic of volume.Utilization is fixed on magneto sensor impression on the stator circumference and is fixed on magnet steel on the axle and rotates the change of magnetic field strength that causes and export the voltage signal that out of phase changes, and judges an axle rotational angle with magnitude of voltage.

The technical solution adopted for the present invention to solve the technical problems is: be provided with the circular ring type stator, it is characterized in that being on the same circumference in the center of circle on the madial wall of stator, with the center of stator, be provided with six magnetic sensors, angle between two adjacent sensors is 60 °, the axis of bore of stator is provided with the permanent magnet that is wrapped with sheath, one end of permanent magnet and shaft coupling one end are fixed, and the other end of shaft coupling is processed with flat bayonet socket;

Be set in qually spaced on the same circumference at six magnetic sensors on the quadrant position, angle between two adjacent sensors is 60 °, on same diametric(al) first, the 4th magnetic sensor 211,214 output signal A1, A2 connects first differential amplifier 1, on same diametric(al) the 3rd, the 6th magnetic sensor 213,216 output signal B1, B2 connects second differential amplifier 2, on same diametric(al) second, the 5th magnetic sensor 212,215 output signal C1, C2 connects the 3rd differential amplifier 3, three differential amplifiers 1,2,3 three-way output signal A0, B0, C0 connects three AD converter 4 respectively, 5,6 input end, three AD converter 4,5,6 three-way output signal Ad, Bd, Cd connects three multipliers 7 respectively, 8, an input end of 9, three multipliers 7,8, three output signals of 9 engage 10 the input end of growing up to be a useful person, the output signal K of coefficient correction device 13 connects another input end of three multipliers respectively, the first output signal D of compositor 10 connects the input end of first memory 11 and second memory 12, the output signal J0 of first memory 11 connects angle transverter 14, and two input ends of coefficient correction device 13 engage grow up to be a useful person 10 the second output signal R1 and the output signal R0 of second memory 12 respectively;

The coefficient correction device is connected in series successively by subtracter 101, divider 102, α multiplier (-icator) 103 and totalizer 104, another input end of divider 102 is connected with another input end of subtracter 101, two another input ends that divider 102 is connected with subtracter 101 meet the output signal R0 of second memory 12 jointly, and an input end of subtracter 101 engages the 10 second output signal R1 that grow up to be a useful person.

The invention has the beneficial effects as follows, utilization is fixed on magneto sensor impression on the stator circumference and is fixed on magnet steel on the axle and rotates the change of magnetic field strength that causes and export the voltage signal that out of phase changes, judge the axle rotational angle with magnitude of voltage, thereby realize the measurement of high-precision velocity of rotation and absolute position, this code device good impact resistance, have higher vulnerability to jamming, guaranteeing to realize high resolution under the little preceding topic of volume.

Description of drawings

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1 is a physical construction synoptic diagram of the present invention.

Fig. 2 is the annexation synoptic diagram of stator and magnetic sensor among Fig. 1.

Fig. 3 is circuit theory diagrams of the present invention.

Fig. 4 is the circuit theory diagrams of coefficient correction device among Fig. 3.

1. amplifiers among the figure, 2. amplifier, 3. amplifier, 4.AD converter, 5.AD converter, 6.AD converter 7. multipliers, 8. multiplier, 9. multiplier, 10. compositor, 11. first memories, 12. second memories, 13. coefficient correction device, 14. angle transverter, 21. stators, 22. shaft couplings, 23. sheath, 24. permanent magnet, 25. bayonet sockets, 210. stator supports, 101. subtracter, 102. divider, 103. α multiplier (-icator)s, 104. totalizers, 211. sensor, 212. sensor, 213. sensors, 214. sensors, 215. sensor, 216. sensor, A1. sensor output signal, B1. sensor output signal, C1. sensor output signal, A2. sensor output signal, B2. sensor output signal, C2. sensor output signal, A0. amplifier output signal, B0. amplifier output signal, C0. differential amplifier output signal, Ad.AD converter output signal, Bd.AD converter output signal, Cd.AD converter output signal, A. multiplier output signal, B. multiplier output signal, C. multiplier output signal, D. compositor output signal, R0. second memory output signal, R1. compositor output signal, K. coefficient correction device output signal, J0 first memory output signal.

Embodiment

At Fig. 1, stator 21 is a cirque structure among Fig. 2, one end of stator 21 is installed on the stator support 210, on the madial wall of stator 21, center with stator 21 is on the same circumference in the center of circle, be provided with six magnetic sensors 211,212,213,214,215,216, angle between two adjacent sensors is 60 °, the axis of stator 21 inner chambers is provided with the permanent magnet 24 that is wrapped with sheath 23, one end of permanent magnet 24 and shaft coupling 22 other ends are fixed, the other end of shaft coupling 22 is processed with pancake bayonet socket 25, can and be attached thereto the sheath 23 that connects with shaft coupling 22 by this bayonet socket 25, permanent magnet 24 is securely fixed in the tested rotating shaft, thereby does not need to install separately the rotation that rotating shaft can realize permanent magnet 24.

In Fig. 3, be set in qually spaced on the same circumference at six magnetic sensors on the quadrant position, angle between two adjacent sensors is 60 °, two magnetic sensors 211 on same diametric(al), 214 output signal A1, A2 connects differential amplifier 1, two magnetic sensors 213 on same diametric(al), 216 output signal B1, B2 connects differential amplifier 2, two magnetic sensors 212 on same diametric(al), 215 output signal C1, C2 connects differential amplifier 3, three differential amplifiers 1,2,3 three-way output signal A0, B0, C0 connects three AD converter 4 respectively, 5,6 input end, three AD converter 4,5,6 three-way output signal Ad, Bd, Cd connects three multipliers 7 respectively, 8, an input end of 9, three multipliers 7,8, three output signals of 9 engage 10 the input end of growing up to be a useful person, the output signal K of coefficient correction device 13 connects another input end of three multipliers respectively, the output signal D of compositor 10 connects the input end of first memory 11 and second memory 12, the output signal J0 of first memory 11 connects angle transverter 14, and two input ends of coefficient correction device 13 engage grow up to be a useful person 10 the output signal R1 and the output signal R0 of second memory 12 respectively.

Among the present invention

X_I represents the I position of data X; It is I bit position from left to right at data X.The 0th of data X the Far Left wherein at data X; The I position

When data X was signed number, the 0th of data X was its sign bit.

X_0=1 represents that data X is a negative; X_0=0 represents that data X is a positive number.

X_D represents the value bit of data X, on the right of the sign bit of data X and near sign bit.

{ X_a; X_b; X_c} represents the data X that the according to the form below mode is formed.

Data structure is

X_a

X_b

X_c

The output of compositor 10 of the present invention is in the following manner:

IF({A_0；B_0；C_0}＝＝010 and A_D＞＝C_D)

D＝{A_0；B_0；C_0；C_D}

R1＝A

IF({A_0；B_0；C_0}＝＝010 and A_D＜C_D)

D＝{A_0；B_0；C_0；A_D}

R1＝C

IF({A_0；B_0；C_0}＝＝101 and A_D＞＝C_D)

D＝{A_0；B_0；C_0；C_D}

R1＝A

IF({A_0；B_0；C_0}＝＝101 and A_D＜C_D)

D＝{A_0；B_0；C_0；A_D}

R1＝C

IF({A_0；B_0；C_0}＝＝011 and B_D＞＝C_D)

D＝{A_0；B_0；C_0；C_D}

R1＝B

IF({A_0；B_0；C_0}＝＝011 and B_D＜C_D)

D＝{A_0；B_0；C_0；B_D}

R1＝C

IF({A_0；B_0；C_0}＝＝100 and B_D＞＝C_D)

D＝{A_0；B_0；C_0；C_D}

R1＝B

IF({A_0；B_0；C_0}＝＝100 and B_D＜C_D)

D＝{A_0；B_0；C_0；B_D}

R1＝C

IF({A_0；B_0；C_0}＝＝001 and B_D＞＝Ad_D)

D＝{A_0；B_0；C_0；A_D}

R1＝B

IF({A_0；B_0；C_0}＝＝001 and B_D＜Ad_D)

D＝{A_0；B_0；C_0；B_D}

R1＝A

IF({A_0；B_0；C_0}＝＝110 and B_D＞＝A_D)

D＝{A_0；B_0；C_0；A_D}

R1＝B

IF({A_0；B_0；C_0}＝＝110 and B_D＜A_D)

D＝{A_0；B_0；C_0；B_D}

R1＝A

In Fig. 4, the coefficient correction device is by subtracter 101, divider 102, α multiplier (-icator) 103 and totalizer 104 are connected in series successively and form, the output signal R1 of the output signal R0 of second memory 9 and compositor 7 connects two input ends of subtracter 101, the output signal E1 of subtracter 101 connects divider 102 input ends, another input end of divider 102 also joins with the output signal R0 of second memory 9, the output signal E2 of divider 102 connects α multiplier (-icator) 103, the output signal E3 of α multiplier (-icator) 103 connects the input end of totalizer 104, and the output signal of totalizer 104 is the signal input part that the output signal K of coefficient correction device 10 connects multiplier 5 and multiplier 6 respectively.

The present invention form coefficient correction device 13 subtracter (101), divider (102), α multiplier (-icator) 103 and totalizer 104 output in the following manner:

E1＝R0-R1

E2＝E1/R0

0＜α＜1

E3＝αE2

K(i)＝K(i-1)+E3；i＝0，1，2…K(0)＝1

I is a sampling sequence number, is 0 when beginning to sample

The present invention's amplifier 1 described above, amplifier 2, amplifier 3, AD converter 4, AD converter 5, AD converter 6, multiplier 7, multiplier 8, multiplier 9, combining amplifier 10, first memory 11, second memory 12, coefficient correction device 13, angle transverter 14, subtracter 101, divider 102, α multiplier (-icator) 103, totalizer 104, magnetic sensor 211, magnetic sensor 212, magnetic sensor 213, magnetic sensor 214, magnetic sensor 215, the circuit structure of magnetic sensor 216 is that this area ordinary person is known public, and this no longer is repeated in this description its structural principle.

Claims (1)

1, a kind of six sensor type code devices, be provided with the circular ring type stator, it is characterized in that being on the same circumference in the center of circle on the madial wall of stator, with the center of stator, be provided with six magnetic sensors, angle between two adjacent sensors is 60 °, the axis of bore of stator is provided with the permanent magnet that is wrapped with sheath, and an end of permanent magnet and shaft coupling one end are fixed, and the other end of shaft coupling is processed with flat bayonet socket; Be set in qually spaced on the same circumference at six magnetic sensors on the quadrant position, angle between two adjacent sensors is 60 °, on same diametric(al) first, the 4th magnetic sensor (211,214) output signal (A1, A2) connect first differential amplifier (1), on same diametric(al) the 3rd, the 6th magnetic sensor (213,216) output signal (B1, B2) connect second differential amplifier (2), on same diametric(al) second, the 5th magnetic sensor (212,215) output signal (C1, C2) connect the 3rd differential amplifier (3), three differential amplifiers (1,2,3) three-way output signal (A0, B0, C0) connect three AD converter (4 respectively, 5,6) input end, three AD converter (4,5,6) three-way output signal (Ad, Bd, Cd) connect three multipliers (7 respectively, 8,9) a input end, three multipliers (7,8,9) three output signals engage the input end of grow up to be a useful person (10), the output signal (K) of coefficient correction device (13) connects another input end of three multipliers respectively, first output signal (D) of compositor (10) connects the input end of first memory (11) and second memory (12), the output signal (J0) of first memory (11) connects angle transverter (14), and two input ends of coefficient correction device (13) engage second output signal (R1) of grow up to be a useful person (10) and the output signal (R0) of second memory (12) respectively; The coefficient correction device is connected in series successively by subtracter (101), divider (102), α multiplier (-icator) (103) and totalizer (104), another input end of divider (102) is connected with another input end of subtracter (101), two another input ends that divider (102) is connected with subtracter (101) connect the output signal (R0) of second memory (12) jointly, and an input end of subtracter (101) engages (10) second output signals (R1) of growing up to be a useful person.

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