CN100405018C - Absolute matrix coding disk for outputting 12-site code by precisive-code gap damaged phase - Google Patents
Absolute matrix coding disk for outputting 12-site code by precisive-code gap damaged phase Download PDFInfo
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- CN100405018C CN100405018C CNB2005100171881A CN200510017188A CN100405018C CN 100405018 C CN100405018 C CN 100405018C CN B2005100171881 A CNB2005100171881 A CN B2005100171881A CN 200510017188 A CN200510017188 A CN 200510017188A CN 100405018 C CN100405018 C CN 100405018C
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Abstract
An absolute matrix coding disk of the twelve codes outputted by the coding slit broken phase is provided in the invention. It includes the code disk and the slit disk which are installed in the main axis of the coder, also they are parallel and in the same axis and have some distance between each other. The code disk rotates by the main axis and the slit disk doesn't rotate. The four loops of the code path are carved in the code disk; the placement of the light section of every loop code path is different with the non-light section. The four loops of the slit are carved in the slit disk and the institution of every loop of the slit is different. The code disk rotates clockwise; the code disk rotates compared to the slit disk. When the slit is lighted, it receives the high-level signal or it receives the low-level signal. The code disk can output the binary format code of twelve bits period. So the radial size is small and it improves the goniometric resolution factor.
Description
One, technical field:
The invention belongs to relate in the photoelectricity test technical field a kind of and adopt the be marred by a scar, etc. absolute type matrix coding disk of output 12 bit codes of smart sign indicating number slit.
Two, technical background: optical electric axial angle encoder is the representational photoelectric sensor that carries out angular displacement, angular velocity measurement, and code-wheel is the core parts that optical electric axial angle encoder carries out data acquisition, is made of code-disc and slit plate coupling.So-called absolute type matrix coding disk, exactly the code-disc circumference is divided into the plurality of sector interval, each interval delineation has the not code channel of isotopic number, the slit plate that requires with code channel mates, a so-called smart sign indicating number slit is marred by a scar, etc., and will be inscribed on the slit plate with certain matching relationship at the code channel of delineating on the code-disc exactly, utilizes several read heads to take out the be complementary electric signal of layout of code-discs and slit plate, through decoding, be processed into the cycle binary code identical with traditional code-disc.
Along with industrialization and high-tech development and needs, high resolving power to optical electric axial angle encoder, the requirement of miniaturization is more and more urgent, the high resolving power of scrambler, the requirement of miniaturization, must make code-disc and dwindle with the radial dimension of the slit plate of its coupling, code channel delineation figure place to code-disc improves simultaneously, must design code channel like this and take special structural design in the layout, after the radial dimension of code-disc dwindles, along with the delineation figure place increases, the line cycle of code channel becomes very little, make signal extraction produce difficulty, will in the slit layout structure design of the code channel layout of code-disc and slit plate, take measures.
The prior art the most approaching with the present invention is the code-wheel (1985 the 5th phase P63-68 of " optical-mechanical " periodical Cao Zhen husband work that the Changchun ray machine is sponsored) that adopts on the Matrix Photoelectric Rotary Encoder of Changchun Institute of Optics, Fine Mechanics and Physics, CAS's development, as depicted in figs. 1 and 2: on the code-disc in Fig. 1, delineation has three circle channel, the first lap code channel is divided into two intervals, 0 °～180 ° is opaque zone, and 180 °～360 ° is transparent zone.Be carved with two logical light code channels in 0 °～180 ° in the second circle code channel, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 180 °/(2 * 2)=45 °, near 0 ° code channel with near 180 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 45 °/2=22.5 °; Be carved with a logical light code channel in 180 °～360 °, logical light code channel and obstructed smooth code channel width equate, its width is 180 °/2=90 °, is obstructed smooth code channel near 180 ° code channels with near 360 ° code channel, width is half of obstructed smooth code channel, promptly 90 °/2=45 °.So in 180 °～360 °, 180 °～225 ° is opaque zone, 225 °～315 ° is transparent zone, and 315 °～360 ° is opaque zone; Three circle channel is divided into four intervals, and it is different that the code channel in these four intervals distributes.In 0 °～90 ° interval, be carved with 16 logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(16 * 2)=2.8125 °, near 0 ° code channel with near 90 ° code channel is obstructed smooth code channel, its width is half (1/2) of other obstructed smooth code channels, promptly 2.8125 °/2=1.40625 °; In 90 °～180 ° interval, be carved with eight logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(8 * 2)=5.625 °, near 90 ° code channels with near 180 ° code channel is obstructed smooth code channel, its width is half (1/2) of obstructed smooth code channel, promptly 5.625 °/2=2.8125 °; In 180 °～270 ° interval, be carved with four logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(4 * 2)=11.25 °, near 180 ° code channels with near 270 ° code channel is obstructed smooth code channel, its width is half (1/2) of obstructed smooth code channel, promptly 11.25 °/2=5.625 °; In 270 °～360 ° interval, be carved with two logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(2 * 2)=22.5 °, near 270 ° code channels with near 360 ° code channel is obstructed smooth code channel, its width is half (1/2) of obstructed smooth code channel, promptly 22.5 °/2=11.25 °.
On slit plate shown in Figure 2, three circle slits are arranged, first lap slit a
1 At 0 ° of position, slit a
290 ° of positions;
The second circle slit b
1At 0 ° of position, slit b
2180 ° of positions; The 3rd circle slit c
1At 0 ° of position, slit c
2At 90 ° of positions, slit c
3At 180 ° of positions, slit c
4270 ° of positions.
The matrix coder dish that code-disc shown in Figure 1 and slit plate shown in Figure 2 are complementary and constitute, can only export eight-level code, the angle resolution of scrambler can only reach 360 °/28=1.40625 °=5062.5 ", this resolution can not satisfy high-resolution angle measurement requirement far away.
Three, summary of the invention:
In order to overcome the shortcoming that prior art exists, the objective of the invention is to for improving the angle resolution of scrambler, the slit layout of the code channel layout of redesign code-disc and the slit plate that is complementary, improve the output figure place, and then improving the angle resolution of scrambler, ad hoc meter is a kind of to adopt the be marred by a scar, etc. absolute type matrix coding disk of output 12 bit codes of smart sign indicating number slit.
The technical problem to be solved in the present invention is: a kind of be marred by a scar, etc. absolute type matrix coding disk of output 12 bit codes of smart sign indicating number slit that adopts is provided.The technical scheme of technical solution problem is as shown in Figure 3 and Figure 4: comprise code-disc and slit plate.Code-disc and slit plate are installed in parallel on the main shaft of scrambler, keep certain clearance between the two, and code-disc rotates with main shaft.
The code channel layout of code-disc is as shown in Figure 3: delineation has four circle channel on code-disc, and first lap code channel, the second circle code channel, three circle channel are identical with code channel in original technology.The first lap code channel is divided into two intervals, and 0 °～180 ° is opaque zone, and 180 °～360 ° is transparent zone, and the sign indicating number of this transparent zone output is called the A sign indicating number.Be carved with two logical light code channels in 0 °～180 ° in the second circle code channel, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 180 °/(2 * 2)=45 °, near 0 ° code channel with near 180 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 45 °/2=22.5 °, the sign indicating number of this transparent zone output is called A
4Sign indicating number; Be carved with a logical light code channel in 180 °～360 °, 180 °～225 ° is obstructed smooth code channel, and 225 °～315 ° are logical light code channel, and 315 °～360 ° (0 °) are obstructed smooth code channel, and the sign indicating number of this transparent zone output is called A
3Sign indicating number; Three circle channel is divided into four intervals, and it is different that the code channel in these four intervals distributes.In 0 °～90 ° interval, be carved with 16 logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(16 * 2)=2.8125 °, near 0 ° code channel with near 90 ° code channel is obstructed smooth code channel, its width is half (1/2) of other obstructed smooth code channels, promptly 2.8125 °/2=1.40625 °, the sign indicating number of this transparent zone output is called A
8Sign indicating number; In 90 °～180 ° interval, be carved with eight logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(8 * 2)=5.625 °, near 90 ° code channels with near 180 ° code channel is obstructed smooth code channel, its width is half (1/2) of other obstructed smooth code channels, promptly 5.625 °/2=2.8125 °, the sign indicating number of this transparent zone output is called A
7Sign indicating number; In 180 °～270 ° interval, be carved with four logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(4 * 2)=11.25 °, near 180 ° code channels with near 270 ° code channel is obstructed smooth code channel, its width is half (1/2) of other obstructed smooth code channels, promptly 11.25 °/2=5.625 °, the sign indicating number of this transparent zone output is called A
6Sign indicating number; In 270 °～360 ° interval, be carved with two logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(2 * 2)=22.5 °, near 270 ° code channels with near 360 ° code channel is obstructed smooth code channel, its width is half (1/2) of other obstructed smooth code channels, promptly 22.5 °/2=11.25 °, the sign indicating number of this transparent zone output is called A
5Sign indicating number; Four circle channel is smart code channel, be 128 the transparent zone sections that are provided with in the whole circumference equal intervals, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 360 °/(128 * 2)=1.40625 °, near 0 ° of (360 °) both sides an opaque zone section is arranged respectively, its width is half (1/2) of other opaque zone sections, width is 360 °/(128 * 2 * 2)=0.703125 °, just 0 ° (360 °) line is striden an opaque zone section center, and the width of transparent zone section and opaque zone section all is 0.703125 ° * 2=1.40625 °.The sign indicating number of this transparent zone output is called A
9, A
10, A
11, A
12Sign indicating number.
The slit layout of slit plate is provided with four circle slits as shown in Figure 4 on slit plate, first lap is provided with two slits, uses a
1, a
2Expression, a
1 At 0 ° of position, a
290 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of code-disc first lap code channel; Second circle is provided with two slits, uses b
1, b
2Expression, b
1At 0 ° of position, b
2180 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of the code-disc second circle code channel; The 3rd circle is provided with four slits, uses c
1, c
2, c
3, c
4Expression, c
1At 0 ° of position, c
2At 90 ° of positions, c
3At 180 ° of positions, c
4270 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of code-disc three circle channel; The 4th circle is provided with 16 double aperture slits week entirely for smart sign indicating number slit, uses e
1, e
2, e
3, e
4, e
5, e
6, e
7, e
8, e
9, e
10, e
11, e
12, e
13, e
14, e
15, e
16Expression.So-called double aperture slit is exactly e
1～e
16Two the logical optical slits identical with angle of circumference with code-disc four circle channel diameter and the slit of an alternate layout of opaque zone are all delineated in each position in these 16 double aperture slit positions, logical optical slits and opaque zone width equate and distribute alternately, logical optical slits is identical with obstructed smooth code channel width with the logical light code channel of code-disc the 4th circle with the opaque zone width, logical optical slits and opaque zone width are 360 °/(128 * 2)=1.40625 °, and the slit plate center and the double aperture slit opaque zone line of centres are called the center line of double aperture slit.
e
1At 0 ° of position, slit e
1Center line and 0 ° of angle be 1.40625 °, between 0 °～22.5 °.Slit e just
1A transparent zone territory is respectively arranged near 0 ° of both sides, its width is half (1/2) of other transparent zone sections, and width is 360 °/(128 * 2 * 2)=0.703125 °, and just 0 ° of line is striden a transparent zone section of double aperture slit center.
e
2At 22.5 ° of positions, slit e
2Center line and 22.5 ° of angles be 1.23046875 °, between 22.5 °～45 °.Just a transparent zone territory is respectively arranged near 22.5 ° of both sides, near the logical optical width of 45 ° of one side is 3/8ths (3/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 3=0.52734375 °, near the logical optical width of 0 ° of one side is 5/8ths (5/8) of other transparent zone sections, width is " 360 °/(128 * 2 * 8) " * 5=0.87890625 °, and just 22.5 ° of lines are striden 3/8ths positions near 45 ° of one side of a transparent zone section of double aperture slit.
e
3At 45 ° of positions, slit e
3Center line and 45 ° of angles be 1.0546875 °, between 45 °～67.5 °.Near 45 ° of both sides a transparent zone territory is arranged respectively, near the logical optical width of 67.5 ° of one side is 2/8ths (2/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 2=0.3515625 °, near the logical optical width of 22.5 ° of one side is 6/8ths (6/8) of transparent zone section, width is " 360 °/128 * 2 * 8) " * 6=1.0546875 °, and just 45 ° of lines are striden 2/8ths positions near 67.5 ° of one side of a transparent zone section of double aperture slit.
e
4At 67.5 ° of positions, slit e
4Center line and 67.5 ° of angles be 0.87890625 °, between 67.5 °～90 °.Near 67.5 ° of both sides a transparent zone territory is arranged respectively, near the logical optical width of 90 ° of one side is 1/8th (1/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 1=0.17578125 °, near the logical optical width of 45 ° of one side is 7/8ths (7/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 7=1.23046875 °, and just 67.5 ° of lines are striden 1/8th positions near 90 ° of one side of a transparent zone section of double aperture slit.
e
5At 90 ° of positions, slit e
5Center line and 90 ° of angles be 0.703125 °, between 90 °～112.5 °.A transparent zone section and an opaque zone section respectively being arranged near 90 ° of both sides, is the opaque zone section near 112.5 ° of one side, is the transparent zone section near 67.5 ° of one side, and just 90 ° of lines are striden the boundary of transparent zone section of double aperture slit and opaque zone section.
e
6At 112.5 ° of positions, slit e
6Center line and 112.5 ° of angles be 0.52734375 °, between 112.5 °～135 °.Near 112.5 ° of both sides an opaque zone territory is arranged respectively, near 135 ° of one obstructed optical width of side is 7/8ths (7/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 7=1.23046875 °, near 90 ° of one obstructed optical width of side is 1/8th (1/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 1=0.17578125 °, and just 112.5 ° of lines are striden 7/8ths positions near 135 ° of one side of an opaque zone section of double aperture slit.
e
7At 135 ° of positions, slit e
7Center line and 135 ° of angles be 0.3515625 °, between 135 °～157.5 °.Near 135 ° of both sides an opaque zone territory is arranged respectively, near 157.5 ° of one obstructed optical width of side is 6/8ths (6/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 6=1.0546875 °, near 112.5 ° of one obstructed optical width of side is 2/8ths (2/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 2=0.3515625 °, and just 135 ° of lines are striden 6/8ths positions near 157.5 ° of one side of an opaque zone section of double aperture slit.
e
8At 157.5 ° of positions, slit e
8Center line and 157.5 ° of angles be 0.17578125 °, between 157.5 °～180 °.Near 157.5 ° of both sides an opaque zone territory is arranged respectively, near 180 ° of one obstructed optical width of side is 5/8ths (5/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 5=0.87890625 °, near 135 ° of one obstructed optical width of side is 3/8ths (3/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 3=0.52734375 °, and just 157.5 ° of lines are striden 5/8ths positions near 180 ° of one side of an opaque zone section of double aperture slit.
e
9At 180 ° of positions, slit e
9Center line and 180 ° of angles be 0 °.Near 180 ° of both sides an opaque zone territory is arranged respectively, near 157.5 ° of one obstructed optical width of side is 4/8ths (4/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 4=0.703125 °, near 202.5 ° of one obstructed optical width of side is 4/8ths (4/8) of other transparent zone sections, width is " 360 °/(128 * 2 * 8) " * 4=0.703125 °, and just 180 ° of lines are striden the center of an opaque zone section of double aperture slit.
e
10At 202.5 ° of positions, slit e
10Center line and 202.5 ° of angles be 0.17578125 °, between 180 °～202.5 °.Near 202.5 ° of both sides an opaque zone territory is arranged respectively, near 225 ° of one obstructed optical width of side is 3/8ths (3/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 3=0.52734375 °, near 180 ° of one obstructed optical width of side is 5/8ths (5/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 5=0.87890625 °, and just 202.5 ° of lines are striden 3/8ths positions near 225 ° of one side of an opaque zone section of double aperture slit.
e
11At 225 ° of positions, slit e
11Center line and 225 ° of angles be 0.3515625 °, between 202.5 °～225 °.Near 225 ° of both sides an opaque zone territory is arranged respectively, near 247.5 ° of one obstructed optical width of side is 2/8ths (2/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 2=0.3515625 °, near 202.5 ° of one obstructed optical width of side is 6/8ths (6/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 6=1.0546875 °, and just 225 ° of lines are striden 2/8ths positions near 247.5 ° of one side of an opaque zone section of double aperture slit.
e
12At 247.5 ° of positions, slit e
12Center line and 247.5 ° of angles be 0.52734375 °, between 225 °～247.5 °.Near 247.5 ° of both sides an opaque zone territory is arranged respectively, near 270 ° of one obstructed optical width of side is 1/8th (1/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 1=0.17578125 °, near 225 ° of one obstructed optical width of side is 7/8ths (7/8) of opaque zone section, width is " 360 °/(128 * 2 * 8) " * 7=1.23046875 °, and just 247.5 ° of lines are striden 1/8th positions near 270 ° of one side of an opaque zone section of double aperture slit.
e
13At 270 ° of positions, slit e
13Center line and 270 ° of angles be 0.703125 °, between 247.5 °～270 °.A transparent zone section and an opaque zone section respectively being arranged near 270 ° of both sides, is the transparent zone section near 292.5 ° of one side, is the opaque zone section near 247.5 ° of one side, and just 270 ° of lines are striden the boundary of transparent zone section of double aperture slit and opaque zone section.
e
14At 292.5 ° of positions, slit e
14Center line and 292.5 ° of angles be 0.87890625 °, between 270 °～292.5 °.Near 292.5 ° of both sides a transparent zone territory is arranged respectively, near the logical optical width of 315 ° of one side is 7/8ths (7/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 7=1.23046875 °, near the logical optical width of 270 ° of one side is 1/8th (1/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 1=0.17578125 °, and just 292.5 ° of lines are striden 7/8ths positions near 315 ° of one side of a transparent zone section of double aperture slit.
e
15At 315 ° of positions, slit e
15Center line and 315 ° of angles be 1.0546875 °, between 292.5 °～315 °.Near 315 ° of both sides a transparent zone territory is arranged respectively, near the logical optical width of 337.5 ° of one side is 6/8ths (6/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 6=1.0546875 °, near the logical optical width of 292.5 ° of one side is 2/8ths (2/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 2=0.3515625 °, and just 315 ° of lines are striden 6/8ths positions near 337.5 ° of one side of a transparent zone section of double aperture slit.
e
16At 337.5 ° of positions, slit e
16Center line and 337.5 ° of angles be 1.23046875 °, between 315 °～337.5 °.Near 337.5 ° of both sides a transparent zone territory is arranged respectively, near the logical optical width of 0 ° of (360 °) side is 5/8ths (5/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 5=0.87890625 °, near the logical optical width of 315 ° of one side is 3/8ths (3/8) of transparent zone section, width is " 360 °/(128 * 2 * 8) " * 3=0.52734375 °, and just 337.5 ° of lines are striden 5/8ths positions near 0 ° of (360 °) side of a transparent zone section of double aperture slit.
Principle of work explanation: code-disc and slit be coaxial to be installed on the main shaft of scrambler, code-disc is fixed on the scrambler main shaft, and rotate with main shaft, slit plate is fixed on the pedestal and maintains static, install with the code-disc opposing parallel, keep certain clearance between the two, relatively rotate between code-disc and the slit plate, output code is writing down the angular displacement position that the scrambler main shaft rotates.The slit of the first lap code channel of code-disc and the first lap of slit plate is complementary, the slit of second circle code channel of code-disc and second circle of slit plate is complementary, the slit of the 3rd circle of the three circle channel of code-disc and slit plate is complementary, the slit of the 4th circle of the four circle channel of code-disc and slit plate is complementary, when code-disc clockwise rotates, when first lap slit, the second circle slit, the 3rd enclose the transparent zone section of slit, the 4th circle slit corresponding code channel on running into code-disc, present high level state output; When meeting the opaque zone section, present low level state output.
The electric signal that first lap slit, the second circle slit, the 3rd circle slit receive as shown in Figure 5.The logical light of A representative, obstructed light, A are represented in the space
3～A
16Represent each bit code.
First lap slit a
1Receive low level signal at 0 °～180 °, receive high level signal, slit a at 180 °～360 °
1The sign indicating number that obtains is the A of traditional code channel
1Sign indicating number; First lap slit a
2Receive low level signal at 0 °～90 °, receive high level signal, receive low level signal, slit a at 270 °～360 ° at 90 °～270 °
2The sign indicating number that obtains is the A of traditional code channel
2Sign indicating number.
A
1＝a
1
A
2＝a
2
The second circle slit b
1At 0 °～180 ° A that receive traditional code channel
4Sign indicating number is at 180 °～360 ° A that receive traditional code channel
3Sign indicating number; The second circle slit b
2At 0 °～180 ° A that receive traditional code channel
3Sign indicating number is at 180 °～360 ° A that receive traditional code channel
4Sign indicating number.Slit b
1, b
2The sign indicating number that the place obtains is not single sign indicating number, need be by A
1Sign indicating number is with A
3, A
4Sign indicating number is separated.Slit b
1Receive A at 180 °～360 °
3Sign indicating number, slit b
2Receive A at 0 °～180 °
3So sign indicating number is b
1With A
1Multiply each other and handle and to obtain A at 180 °～360 °
3Sign indicating number, b
2With A
1Multiply each other and handle and to obtain A at 0 °～180 °
3Sign indicating number, in like manner, b
1With A
1Multiply each other and handle and to obtain A at 0 °～180 °
4Sign indicating number, b
2With A
1Multiply each other and handle and to obtain A at 180 °～360 °
4Sign indicating number, relational expression is as follows:
A
3＝b
1A
1+b
2A
1
A
4＝b
1A
1+b
2A
1
The 3rd circle slit c
1Receive A at 0 °～90 °
8Sign indicating number receives A at 90 °～180 °
7Sign indicating number receives A at 180 °～270 °
6Sign indicating number receives A at 270 °～360 °
5Sign indicating number; The 3rd circle slit c
2Receive A at 0 °～90 °
7Sign indicating number receives A at 90 °～180 °
6Sign indicating number receives A at 180 °～270 °
5Sign indicating number receives A at 270 °～360 °
8Sign indicating number; The 3rd circle slit c
3Receive A at 0 °～90 °
6Sign indicating number receives A at 90 °～180 °
5Sign indicating number receives A at 180 °～270 °
8Sign indicating number receives A at 270 °～360 °
7Sign indicating number; The 3rd circle slit c
4Receive A at 0 °～90 °
5Sign indicating number receives A at 90 °～180 °
8Sign indicating number receives A at 180 °～270 °
7Sign indicating number receives A at 270 °～360 °
6Sign indicating number.Slit c
1, c
2, c
3, c
4The electric signal that receives is not single signal, need be by A
1, A
2With traditional code channel A
5, A
6, A
7, A
8Sign indicating number is separated.
A
1, A
2Code-disc is divided into 0 °～90 °, 90 °～180 °, 180 °～270 °, 270 °～360 ° four intervals.A
1A
2At 0 °～90 ° signal output is arranged, do not have signal output at 90 °～360 °, so slit c
1, c
2, c
3, c
4Electric signal that receives and A
1A
2Product is only exported the sign indicating number information that 0 °～90 ° intervals receive, the output of rest interval no signal; A
1A
2At 90 °～180 ° signal output is arranged, do not have signal output at 0 °～90 °, 180 °～360 °, so slit c
1, c
2, c
3, c
4Electric signal that receives and A
1A
2Product is only exported the sign indicating number information that 90 °～180 ° intervals receive, the output of rest interval no signal; A
1A
2At 180 °～270 ° signal output is arranged, do not have signal output at 0 °～180 °, 270 °～360 °, so slit c
1, c
2, c
3, c
4Electric signal that receives and A
1A
2Product is only exported the sign indicating number information that 180 °～270 ° intervals receive, the output of rest interval no signal; A
1A
2At 270 °～360 ° signal output is arranged, do not have signal output at 0 °～270 °, so slit c
1, c
2, c
3, c
4Electric signal that receives and A
1A
2Product is only exported the sign indicating number information that 270 °～360 ° intervals receive, the output of rest interval no signal.
c
4A
1A
2At 0 °～90 ° signal output is arranged, rest interval does not have signal output, c
4Receive A at 0 °～90 °
5So signal is c
4A
1A
2At 0 °～90 ° output A
5Sign indicating number, the output of rest interval no signal; c
3A
1A
2At 90 °～180 ° signal output is arranged, rest interval does not have signal output, c
3Receive A at 90 °～180 °
5So signal is c
3A
1A
2At 90 °～180 ° output A
5Sign indicating number, the output of rest interval no signal; c
2A
1A
2At 180 °～270 ° signal output is arranged, rest interval does not have signal output, c
2Receive A at 180 °～270 °
5So signal is c
2A
1A
2At 180 °～270 ° output A
5Sign indicating number, the output of rest interval no signal; c
1A
1A
2At 270 °～360 ° signal output is arranged, rest interval does not have signal output, c
1Receive A at 270 °～360 °
5So signal is c
1A
1A
2At 270 °～360 ° output A
5Sign indicating number, the output of rest interval no signal; So A
5The sign indicating number expression formula is:
A
5＝c
4A
1A
2+c
3A
1A
2+c
2A
1A
2+c
1A
1A
2
In like manner, A
6=c
3A
1A
2+ c
2A
1A
2+ c
1A
1A
2+ c
4A
1A
2
A
7＝c
2A
1A
2+c
1A
1A
2+c
4A
1A
2+c
3A
1A
2
A
8＝c
1A
1A
2+c
4A
1A
2+c
3A
1A
2+c
2A
1A
2
The 4th electric signal that receive of circle slit as shown in Figure 6, this is the signal schematic representation of electric signal in the smart sign indicating number of code-disc one-period that the smart sign indicating number of the 4th circle receives after through the 4th circle slit.The smart sign indicating number of code-disc one-period be meant between transparent zone of code-disc smart sign indicating number code channel and opaque zone between total circumference angle value, between transparent zone of just smart sign indicating number code channel or two times of the circumference angle value between opaque zone.Slit e
1The electric signal that receives is identical with code-disc, slit e
2The electric signal that receives compares e
1Ten sixths of the leading code-disc signal period of electric signal at place, slit e
3The electric signal that receives compares e
12/16ths of the leading code-disc signal period of electric signal at place, slit e
4The electric signal that receives compares e
13/16ths of the leading code-disc signal period of electric signal at place, slit e
5The electric signal that receives compares e
14/16ths of the leading code-disc signal period of electric signal at place, slit e
6The electric signal that receives compares e
15/16ths of the leading code-disc signal period of electric signal at place, slit e
7The electric signal that receives compares e
16/16ths of the leading code-disc signal period of electric signal at place, slit e
8The electric signal that receives compares e
17/16ths of the leading code-disc signal period of electric signal at place, slit e
9The electric signal that receives compares e
18/16ths of the leading code-disc signal period of electric signal at place, slit e
10The electric signal that receives compares e
19/16ths of the leading code-disc signal period of electric signal at place, slit e
11The electric signal that receives compares e
110/16ths of the leading code-disc signal period of electric signal at place, slit e
12The electric signal that receives compares e
111/16ths of the leading code-disc signal period of electric signal at place, slit e
13The electric signal that receives compares e
112/16ths of the leading code-disc signal period of electric signal at place, slit e
14The electric signal that receives compares e
113/16ths of the leading code-disc signal period of electric signal at place, slit e
15The electric signal that receives compares e
114/16ths of the leading code-disc signal period of electric signal at place, slit e
16The electric signal that receives compares e
115/16ths of the leading code-disc signal period of electric signal at place.These 16 sign indicating numbers through the oversampling circuit XOR (
) handle the A can obtain among Fig. 6
9, A
9', A
10, A
11, A
12Coded signal.A
9, A
10, A
11, A
12Sign indicating number is the 9th bit code, the tenth bit code, the 11 bit code, the 12 bit code of traditional binary code.
A
9With slit e
9The electric signal that receives is identical, and equation is:
A
9＝e
9
A
9' with slit e
1The electric signal that receives is identical, and equation is:
A
9′＝e
1
e
5With e
13The signal that XOR produces is A
10, equation is:
e
7With e
3XOR adds e
11With e
15The signal that XOR produces is A
11, equation is:
e
2With e
4XOR adds e
6With e
8XOR adds e
10With e
12XOR adds e
14With e
16The signal that XOR produces is A
13, equation is:
A
9With A
9' equal in length, 90 ° of phase shiftings, A
9' as correcting code, improve the scrambler reliability, do not do the output of scrambler figure place.
Good effect of the present invention: compared with the prior art, prior art three circle channel and three circle slit couplings can only be exported eight-level code, four circle channel of the present invention and four circle slit coupling outputs, 12 bit codes, the angle resolution of prior art is 1.40625 °, angle resolution of the present invention is 0.087890625 °, improves three magnitudes.The delineation resolution of code-disc of the present invention and slit plate is not high, is 0.703125 °, can reduce to delineate difficulty and signal extraction difficulty, is marred by a scar, etc. by slit simultaneously, can improve resolution.
Four, description of drawings:
Fig. 1 is the layout structure synoptic diagram of code-disc code channel in the prior art, and Fig. 2 is the layout structure synoptic diagram of slit on the slit plate in the prior art.Fig. 3 is the layout structure synoptic diagram of code-disc code channel of the present invention, Fig. 4 is the layout structure synoptic diagram of slit on the slit plate of the present invention, Fig. 5 is that first lap of the present invention, second circle, three circle channel and first lap, second circle, the 3rd circle slit coupling show form at the electric signal that different angles receive, the demonstration form of the signal of acquisition after Fig. 6 electric signal in code-disc code channel one-period that to be four circle channel of the present invention receive with the 4th circle slit coupling and these electric signal are handled through XOR.
Five, embodiment:
Code-disc code channel layout among the present invention is implemented by structure shown in Figure 3, and the slit layout of slit plate is implemented by structure shown in Figure 4.K is adopted in the substrate of code-disc and slit plate
9Optical glass, the surface is chromium plating all.
Claims (1)
1. one kind is adopted the be marred by a scar, etc. absolute type matrix coding disk of output 12 bit codes of smart sign indicating number slit, comprise code-disc and slit plate, both are coaxial, parallel and keep certain clearance to be installed on the main shaft of scrambler, code-disc is fixed on the scrambler main shaft, rotate with main shaft, slit plate is fixed on the pedestal and maintains static; It is characterized in that: delineation has four circle channel, first lap code channel to be divided into two intervals on code-disc, and 0 °～180 ° is opaque zone, and 180 °～360 ° is transparent zone; Be carved with two logical light code channels in 0 °～180 ° in the second circle code channel, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 180 °/(2 * 2)=45 °, near 0 ° code channel with near 180 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 45 °/2=22.5 °; Be carved with a logical light code channel in 180 °～360 °, logical light code channel and obstructed smooth code channel width equate, its width is 180 °/2=90 °, near 180 ° code channels with near 360 ° code channel is obstructed smooth code channel, and its width is half of obstructed smooth code channel, promptly 90 °/2=45 °, in 180 °～360 °, 180 °～225 ° is obstructed smooth code channel, and 225 °～315 ° are logical light code channel, and 315 °～360 ° is obstructed smooth code channel; Three circle channel is divided into four intervals, it is different that the code channel in these four intervals distributes, in 0 °～90 ° interval, be carved with 16 logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(16 * 2)=2.8125 °, near 0 ° code channel with near 90 ° code channel is obstructed smooth code channel, and its width is half of obstructed smooth code channel, promptly 2.8125 °/2=1.40625 °; In 90 °～180 ° interval, be carved with eight logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(8 * 2)=5.625 °, near 90 ° code channels with near 180 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 5.625 °/2=2.8125 °; In 180 °～270 ° interval, be carved with four logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(4 * 2)=11.25 °, near 180 ° code channels with near 270 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 11.25 °/2=5.625 °; In 270 °～360 ° interval, be carved with two logical light code channels, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 90 °/(2 * 2)=22.5 °, near 270 ° code channels with near 360 ° code channel is obstructed smooth code channel, its width is half of obstructed smooth code channel, promptly 22.5 °/2=11.25 °; Four circle channel is smart code channel, be 128 the transparent zone sections that are provided with in the whole circumference equal intervals, logical light code channel and obstructed smooth code channel width equate and distribute alternately, logical light code channel and obstructed smooth code channel width are 360 °/(128 * 2)=1.40625 °, near 0 ° or 360 ° of both sides an opaque zone territory is arranged respectively, its width is half of opaque zone section, width is 360 °/(128 * 2 * 2)=0.703125 °, just 0 ° or 360 ° of lines are striden an opaque zone section center, and the width of transparent zone section and opaque zone section all is 0.703125 ° * 2=1.40625 °; Be provided with four circle slits on slit plate, first lap is provided with two slits, uses a
1, a
2Expression, a
1At 0 ° of position, a
290 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of code-disc first lap code channel; Second circle is provided with two slits, uses b
1, b
2Expression, b
1At 0 ° of position, b
2180 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of the code-disc second circle code channel; The 3rd circle is provided with four slits, uses c
1, c
2, c
3, c
4Expression, c
1At 0 ° of position, c
2At 90 ° of positions, c
3At 180 ° of positions, c
4270 ° of positions, the wide 0.06mm of slit, the inside and outside circle diameter is identical with the diameter of code-disc three circle channel; The 4th circle is provided with 16 double aperture slits week entirely for smart sign indicating number slit, uses e
1, e
2, e
3, e
4, e
5, e
6, e
7, e
8, e
9, e
10, e
11, e
12, e
13, e
14, e
15, e
16Expression, so-called double aperture slit is exactly e
1～e
16Two the logical optical slits identical with angle of circumference with code-disc four circle channel diameter and the slit of an alternate layout of opaque zone are all delineated in each position in these 16 double aperture slit positions, logical optical slits and opaque zone width equate and distribute alternately, logical optical slits is identical with obstructed smooth code channel width with the logical light code channel of code-disc the 4th circle with the opaque zone width, logical optical slits and opaque zone width are 360 °/(128 * 2)=1.40625 °, and the slit plate center and the double aperture slit opaque zone line of centres are called the center line of double aperture slit; e
1At 0 ° of position, slit e
1Center line and 0 ° of angle be 1.40625 °, between 0 °～22.5 °; e
2At 22.5 ° of positions, slit e
2Center line and 22.5 ° of angles be 1.23046875 °, between 22.5 °～45 °; e
3At 45 ° of positions, slit e
3Center line and 45 ° of angles be 1.0546875 °, between 45 °～67.5 °; e
4At 67.5 ° of positions, slit e
4Center line and 67.5 ° of angles be 0.87890625 °, between 67.5 °～90 °; e
5At 90 ° of positions, slit e
5Center line and 90 ° of angles be 0.703125 °, between 90 °～112.5 °; e
6At 112.5 ° of positions, slit e
6Center line and 112.5 ° of angles be 0.52734375 °, between 112.5 °～135 °; e
7At 135 ° of positions, slit e
7Center line and 135 ° of angles be 0.3515625 °, between 135 °～157.5 °; e
8At 157.5 ° of positions, slit e
8Center line and 157.5 ° of angles be 0.17578125 °, between 157.5 °～180 °; e
9At 180 ° of positions, slit e
9Center line and 180 ° of angles be 0 °; e
10At 202.5 ° of positions, slit e
10Center line and 202.5 ° of angles be 0.17578125 °, between 180 °～202.5 °; e
11At 225 ° of positions, slit e
11Center line and 225 ° of angles be 0.3515625 °, between 202.5 °～225 °; e
12At 247.5 ° of positions, slit e
12Center line and 247.5 ° of angles be 0.52734375 °, between 225 °～247.5 °; e
13At 270 ° of positions, slit e
13Center line and 270 ° of angles be 0.703125 °, between 247.5 °～270 °; e
14At 292.5 ° of positions, slit e
14Center line and 292.5 ° of angles be 0.87890625 °, between 270 °～292.5 °; e
15At 315 ° of positions, slit e
15Center line and 315 ° of angles be 1.0546875 °, between 292.5 °～315 °; e
16At 337.5 ° of positions, slit e
16Center line and 337.5 ° of angles be 1.23046875 °, between 315 °～337.5 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100171881A CN100405018C (en) | 2005-10-12 | 2005-10-12 | Absolute matrix coding disk for outputting 12-site code by precisive-code gap damaged phase |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100171881A CN100405018C (en) | 2005-10-12 | 2005-10-12 | Absolute matrix coding disk for outputting 12-site code by precisive-code gap damaged phase |
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| Publication Number | Publication Date |
|---|---|
| CN1896693A CN1896693A (en) | 2007-01-17 |
| CN100405018C true CN100405018C (en) | 2008-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100171881A Expired - Fee Related CN100405018C (en) | 2005-10-12 | 2005-10-12 | Absolute matrix coding disk for outputting 12-site code by precisive-code gap damaged phase |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101339053B (en) * | 2008-08-08 | 2010-06-23 | 中国科学院长春光学精密机械与物理研究所 | Double group reading matrix type photoelectric coded circle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103512598B (en) * | 2013-08-16 | 2015-10-28 | 衢州学院 | a kind of absolute type matrix encoder |
| CN103606375B (en) * | 2013-11-06 | 2016-06-22 | 长春师凯科技产业有限责任公司 | One carries high-resolution encoded light chopper wheel |
| CN104655156B (en) * | 2014-12-31 | 2017-06-06 | 哈尔滨工业大学 | A kind of error compensating method of the absolute type code-disc of matrix form coded system |
| CN106385259B (en) * | 2016-10-26 | 2019-08-09 | 连云港杰瑞电子有限公司 | A kind of single-chip internal reference axes-angle conversion circuit and method |
| DE102018221211A1 (en) * | 2018-12-07 | 2020-06-10 | Robert Bosch Gmbh | Speed and / or angle of rotation detection unit and working device |
| CN109470279B (en) * | 2019-01-02 | 2024-05-07 | 宝鸡文理学院 | Absolute code encoder and encoding method thereof |
| EP3885712A4 (en) * | 2019-03-15 | 2022-07-13 | Harmonic Drive Systems Inc. | Optical rotary encoder, servo motor, and actuator |
| CN111457947B (en) * | 2020-05-13 | 2021-11-19 | 新里程医用加速器(无锡)有限公司 | Position coding system, position coding method, position coding device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07311055A (en) * | 1994-05-18 | 1995-11-28 | Japan Servo Co Ltd | Absolute-value encoder |
| CN2450637Y (en) * | 2000-12-04 | 2001-09-26 | 中国科学院长春光学精密机械与物理研究所 | Absolute array coding disc |
| CN2509560Y (en) * | 2001-11-22 | 2002-09-04 | 中国科学院长春光学精密机械与物理研究所 | Absolute double-matrix slit plate |
-
2005
- 2005-10-12 CN CNB2005100171881A patent/CN100405018C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07311055A (en) * | 1994-05-18 | 1995-11-28 | Japan Servo Co Ltd | Absolute-value encoder |
| CN2450637Y (en) * | 2000-12-04 | 2001-09-26 | 中国科学院长春光学精密机械与物理研究所 | Absolute array coding disc |
| CN2509560Y (en) * | 2001-11-22 | 2002-09-04 | 中国科学院长春光学精密机械与物理研究所 | Absolute double-matrix slit plate |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101339053B (en) * | 2008-08-08 | 2010-06-23 | 中国科学院长春光学精密机械与物理研究所 | Double group reading matrix type photoelectric coded circle |
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|---|---|
| CN1896693A (en) | 2007-01-17 |
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