CN101441093B - Minitype absolute encoder with sixteen bit output - Google Patents
Minitype absolute encoder with sixteen bit output Download PDFInfo
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- CN101441093B CN101441093B CN2008101876116A CN200810187611A CN101441093B CN 101441093 B CN101441093 B CN 101441093B CN 2008101876116 A CN2008101876116 A CN 2008101876116A CN 200810187611 A CN200810187611 A CN 200810187611A CN 101441093 B CN101441093 B CN 101441093B
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Abstract
The invention relates to a minisize absolute type encoder with sixteen bits output used for photoelectric detection technology field, which includes a main shaft, a spindle sleeve, a housing, a eight-matrix coding disc, a slit, a luminescent element and photoelectric receivers; the eight-matrix coding disc is fixedly arranged on top end of the main shaft concentrically with the main shaft; the luminescent element consists of eight luminous tubes arranged on a luminous tube circuit board, and the luminous tube circuit board is fixed arranged in a groove of bottom end of the spindle sleeve; theslit is fixed on an upper shoulder of the spindle sleeve by a slit base, and is arranged above the eight-matrix coding disc; a data processing plate is installed on top end of the spindle sleeve and is arranged above the slit base; the sixteen photoelectric receivers are arranged on top end of the spindle sleeve by the data processing plate; and position and number of the photoelectric receivers are matched with that of slit windows, so the photoelectric receivers can receive optical signal which is sent by the luminous tubes and passes through a light-passing area of the coding disc and a light-passing area of the slit windows. The invention has advantages of simple structure and convenient debugging, and under same resolution, profile size of the encoder reduces more than 2 times.
Description
Technical field
The invention belongs to a kind of miniature absolute type photoelectric angular displacement, the angular speed measuring transducer that relates in the photoelectric detection technology field with sixteen bit output.
Background technology
Absolute optical encoder is a type of optical electric axial angle encoder, is a kind of representative angular displacement, angular speed measuring transducer, compares other sensor, has the absolute position counting, and the precision height is reliable and stable, is subjected to advantages such as external interference is little.
Yet,, more and more urgent to the requirement of optical electric axial angle encoder miniaturization along with the needs in fields such as the development of modern high technology and military project, scientific research.The most direct solution of absolute optical encoder miniaturization is exactly to dwindle the radial dimension of eight matrix coder dishes and slit.But, after the size of eight matrix coder dishes and slit is dwindled, influence the effective width in code channel zone, in other words, if guarantee same resolving power, code channel quantity is just constant so, can only reduce the width of each bar code channel, and the code channel width is constant basically, to size reduce the contribution very little; If guarantee that the code channel width is constant, can only be to reduce code channel quantity, can cause the resolving power of scrambler to reduce like this.So, we can say the resolving power of scrambler and the contradiction that size is a pair of very difficult solution.Certainly, can by to eight matrix coder dishes and slit coding redesign optimize, structure is adopted a series of measure such as rational layout improve the resolving power of scrambler.
The prior art the most approaching with the present invention is the patent of Chinese Academy of Sciences's Changchun optical precision optical machinery and physical study place application in 2004---" a kind of tubular shaft absolute matrix scrambler " with thirteen bits output, and as shown in Figure 1: comprise a system, optical reading system, housing and external mechanical connecting element.Axle system comprises: hollow spindle 2, axle sleeve 12, bearing 11; Photoelectric translating system comprises receiving element 1, electro-optical system support 3, screw 10, spacer ring 6, slit plate 7, eight matrix coder dishes 8, light-emitting component 13; Housing and external mechanical connecting element comprise: housing 4, screw 5, ring flange 12.This small-sized absolute type encoder output thirteen bits, angle measurement resolving power 158 ".The minimum profile radial dimension can only be accomplished
Resolving power is not high, and physical dimension is excessive, still can't satisfy the application of special occasions, as guides first-class.In this case, design a kind of miniature absolute optical encoder, to solve limited problem.
Summary of the invention
In order to overcome the defective that disclosed so far technology exists, the objective of the invention is to dwindle the physical dimension of scrambler, improve the angle measurement resolving power, solve the needs of absolute type encoder miniaturization, enlarge the application and the scope of application of scrambler, propose a kind of miniature absolute type encoder with sixteen bit output.
The present invention has the miniature absolute type encoder of sixteen bit output, comprises main shaft, is arranged on axle sleeve on the main shaft, is nested with shell, eight matrix coder dishes, slit, light-emitting component, photelectric receiver, single-chip microcomputer, interface chip, comparer and Voltage stabilizing module on axle sleeve by bearing; On described eight matrix coder dishes and the concentric top that is installed in main shaft of main shaft; Described light-emitting component is to be made of eight luminotrons that are arranged on the luminotron circuit board, and the luminotron circuit board is installed in the groove of axle sleeve bottom; Described slit is fixed on the top shoulder of axle sleeve by slit base, is positioned at the top of eight matrix coder dishes; Picking up a land described photelectric receiver is arranged on the top of axle sleeve by a data processing plate; Pick up land described photelectric receiver and be complementary, send and pass through code-wheel transparent zone and slit window transparent zone and the light signal that obtains to receive from luminotron with slit position of window and quantity;
The output terminal of described Voltage stabilizing module is connected with the input end of single-chip microcomputer; The input end of described comparer is connected with the output terminal of the 15 photelectric receiver, the 16 photelectric receiver, second photelectric receiver, the 3rd photelectric receiver respectively; The output terminal of comparer is connected with the input end of single-chip microcomputer; The output terminal of the 4th photelectric receiver, the 5th photelectric receiver, the 6th photelectric receiver, the 7th photelectric receiver, the 8th photelectric receiver, the 9th photelectric receiver, the tenth photelectric receiver, the 11 photelectric receiver, the 12 photoelectric receiving tube the 13 photelectric receiver, the 14 photelectric receiver, first photelectric receiver is connected with the input end of single-chip microcomputer respectively.
Scrambler of the present invention owing to adopt novel coding method and meticulous structural design, is realized three circle output sixteen bit sign indicating numbers, reaches 20 " resolving power; Simple in structure, debugging is convenient, and is with low cost, under the identical resolving power, dwindled more than one times than similar conventional absolute type encoder physical dimension, and radial dimension reaches
And highly be less than 25mm, promote scrambler to miniaturization, microminiaturized development, enlarged the range of application of scrambler.
Description of drawings
Fig. 1 is the structural representation of prior art scrambler;
Fig. 2 is the structural representation of scrambler of the present invention;
Fig. 3 is the layout structure synoptic diagram of luminotron described in the present invention on the luminotron circuit board;
Fig. 4 is the circuit board layout structure synoptic diagram of photelectric receiver described in the present invention;
Fig. 5 is the coding layout structure synoptic diagram of eight matrix coder dishes described in the present invention;
Fig. 6 is the coding layout structure synoptic diagram of slit described in the present invention.
Embodiment
The embodiment that provides below in conjunction with response diagram is described in further detail code-wheel structure of the present invention.
With reference to Fig. 2 to Fig. 4, a kind of miniature absolute type encoder with sixteen bit output, comprise main shaft 14, be arranged on axle sleeve 16 on the main shaft 14, be nested with shell 17, eight matrix coder dishes 25, slit 24, light-emitting component, photelectric receiver, single-chip microcomputer 19, interface chip 20, comparer 21 and Voltage stabilizing module 22 on axle sleeve 16, it is characterized in that: on the concentric top that is installed in main shaft 14 of described eight matrix coder dishes 25 and main shaft 14 by bearing 15; Described light-emitting component is to be made of eight luminotrons 27～34 that are arranged on the luminotron circuit board 26, and luminotron circuit board 26 is installed in the groove of axle sleeve 16 bottoms; Described slit 24 is fixed on the top shoulder of axle sleeve 16 by 23 of slit base, is positioned at the top of eight matrix coder dishes; Picking up a land described photelectric receiver 35～50 is arranged on the top of axle sleeve 16 by a data processing plate 18; Pick up land described photelectric receiver and be complementary, send and pass through code-wheel transparent zone and slit window transparent zone and the light signal that obtains to receive from luminotron with slit position of window and quantity;
The output terminal of described Voltage stabilizing module 22 is connected with the input end of single-chip microcomputer 19; The input end of described comparer 21 is connected with the output terminal of the 15 photelectric receiver the 47, the 16 photelectric receiver 48, second photelectric receiver 49, the 3rd photelectric receiver 50 respectively; The output terminal of comparer 21 is connected with the input end of single-chip microcomputer 19; The output terminal of the 4th photelectric receiver 35, the 5th photelectric receiver 36, the 6th photelectric receiver 37, the 7th photelectric receiver 38, the 8th photelectric receiver 39, the 9th photelectric receiver 40, the tenth photelectric receiver the 41, the 11 photelectric receiver the 42, the 12 photoelectric receiving tube 43 the 13 photelectric receiver the 44, the 14 photelectric receiver 45, first photelectric receiver 46 is connected with the input end of single-chip microcomputer 19 respectively.
As shown in Figure 4: three photelectric receivers are equipped with in the position of corresponding first luminotron 27: first photelectric receiver 46, second photelectric receiver 49, the 3rd photelectric receiver 50, corresponding second luminotron 28 is equipped with the 4th photelectric receiver 35, the 5th photelectric receiver 36, corresponding the 3rd luminotron 29 is equipped with the 6th photelectric receiver 37, the 7th photelectric receiver 38, corresponding the 4th luminotron 30 is equipped with the 8th photelectric receiver 39, the 9th photelectric receiver 40, corresponding the 5th luminotron 31 is equipped with the tenth photelectric receiver 41, the 11 photelectric receiver 42, corresponding the 6th luminotron 32 is equipped with the 12 photoelectric receiving tube 43, corresponding the 7th luminotron 33 is equipped with the 13 photelectric receiver 44, and corresponding the 8th luminotron 34 is equipped with three photelectric receivers: the 14 photelectric receiver 45, the 15 photelectric receiver 47, the 16 photelectric receiver 48.
Coded system is made of eight matrix coder dishes 25 and slit 24 couplings.With reference to Fig. 5, be carved with three circle channel on the described eight matrix coder dishes 25, its first lap code channel has the transparent zone of half, and start angle is 90 °, and termination point is 270 °; The second circle code channel is by the positional alignment of eight quadrants, promptly be divided on the whole circumference between 0 °～45 °, 45 °～90 °, 90 °～135 °, 135 °～180 °, 180 °～225 °, 225 °～270 °, 270 °～315 °, 315 °～360 ° eight fan sections, be carved with the coding of seven kinds of different cycles, scribe 1 transparent zone in 0 °～45 ° zones, the cycle is 360 °/2
3, start angle is 360 °/2
5Scribe 2 transparent zones in 45 °～90 ° zones, the cycle is 360 °/2
4, start angle is 360 °/2
6Scribe 4 transparent zones in 90 °～135 ° zones, the cycle is 360 °/2
5, start angle is 360 °/2
7Scribe 8 transparent zones in 135 °～180 ° zones, the cycle is 360 °/2
6, start angle is 360 °/2
8Scribe 16 transparent zones in 180 °～225 ° zones, the cycle is 360 °/2
7, start angle is 360 °/2
9Scribe 32 transparent zones in 225 °～270 ° zones, the cycle is 360 °/2
8, start angle is 360 °/2
10Scribe 1 transparent zone in 270 °～360 ° zones, the cycle is 360 °/2
2, start angle is 360 °/2
4Three circle channel is smart sign indicating number code channel, is to be carved with equally spaced 1,024 transparent zones and opaque zone on whole circumference, and 0 ° of line passes the center of a transparent zone, and logical light and opaque zone are 360 °/2
11
With reference to Fig. 6, be carved with three circle codings on the described slit 24, first lap is carved with a successively on 315 °, 270 °, 225 ° and 180 ° of positions
1, a
2, a
3And a
4Four single seams read eight matrix coder dish first laps coding, and corresponding successively with the 4th, the 6th, the 8th, the tenth photelectric receiver 35,37,39,41; Second circle is carved with b successively on 8 positions of 225 °, 270 °, 315 °, 0 °, 45 °, 90 °, 135 °, 180 ° angles
1, b
2, b
3, b
4, b
5, b
6, b
7And b
8Eight single seams read the coding of eight matrix coder dishes, second circle, and with the the the 9th, the 7th, the 5th, first, the 14, the 13, the 12, the 11 photelectric receiver 40,38,36,46,45,44,43,42 is corresponding successively; The 3rd circle is provided with c
1, c
2, c
3, c
4The window of seam more than four is with the 15, the 16, second, third photelectric receiver 47,48,49,50 is corresponding successively, c
1And c
2Be distributed in 22.5 ° of line both sides, c
1Become 49.658203125 ° of angles, c with 0 ° of line
2Become 40.4296875 ° of angles, c with 0 ° of line
3And c
4Be distributed in 0 ° of line both sides, c
3Become 4.482421875 ° of angles, c with 0 ° of line
4Become-4.39453125 ° of angles with 0 ° of line.
The principle of work of scrambler of the present invention is:
Eight matrix coder dishes 25 produce motion mutually with main shaft 14 rotations with slit 24.The light that luminotron sends sees through single seam or window on the slit 24 during through the transparent zone of eight matrix coder dishes 25, and photelectric receiver receives light signal, presents high level state, and electric signal output is arranged; The illumination that luminotron sends is at the opaque zone of eight matrix coder dishes, and photelectric receiver does not receive light signal, presents low level, there is not electric signal output, coding on such eight matrix coder dishes is constantly exported the angular displacement of record coding device and absolute position along with the rotation of main shaft.
First lap list seam a with slit 24
1, a
2, a
3, a
4The light signal that corresponding photelectric receiver 35,37,39,41 receives is as shown in table 1: A
1Represent the transparent zone high level, the opaque zone low level is represented in the space, and the pass that is processed into tradition cycle binary code is:
A
1＝a
1；
A
2＝a
3；
A
3＝a
2·a
4；
The single seam of second circle b with slit 24
1, b
2, b
3, b
4, b
5, b
6, b
7And b
8The light signal that corresponding photelectric receiver 40,38,36,46,45,44,43,42 receives is as shown in table 2, and the pass that is processed into tradition cycle binary code is:
A
4＝b
1·a
1·a
3+b
2·a
2·a
4+b
3·a
1·a
3+b
4·a
2·a
4+b
5·a
1·a
3+b
6·a
2·a
4
+b
7·a
1·a
3+b
8·a
2·a
4；
A
5＝b
1·a
2·a
3+b
2·a
3·a
4+b
3·a
1·a
4+b
4·a
1·a
2+b
5·a
2·a
3+b
6·a
3·a
4
+b
7·a
1·a
4+b
8·a
1·a
2；
A
6＝b
1·a
1·a
2+b
2·a
2·a
3+b
3·a
3·a
4+b
4·a
1·a
4+b
5·a
1·a
2+b
6·a
2·a
3
+b
7·a
3·a
4+b
8·a
1·a
4；
A
7＝b
1·a
1·a
4+b
2·a
1·a
2+b
3·a
2·a
3+b
4·a
3·a
4+b
5·a
1·a
4+b
6·a
1·a
2
+b
7·a
2·a
3+b
8·a
3·a
4；
A
8＝b
1·a
3·a
4+b
2·a
1·a
4+b
3·a
1·a
2+b
4·a
2·a
3+b
5·a
3·a
4+b
6·a
1·a
4
+b
7·a
1·a
2+b
8·a
2·a
3；
A
9＝b
1·a
2·a
3+b
2·a
3·a
4+b
3·a
1·a
4+b
4·a
1·a
2+b
5·a
2·a
3+b
6·a
3·a
4
+b
7·a
1·a
4+b
8·a
1·a
2；
A
10＝b
1·a
1·a
2+b
2·a
2·a
3+b
3·a
3·a
4+b
4·a
1·a
4+b
5·a
1·a
2+b
6·a
2·a
3
+b
7·a
3·a
4+b
8·a
1·a
4；
Differ 1/4 cycle, c successively with the light signal phase place that receives of the corresponding photelectric receiver 47,48,49,50 of the 3rd circle of slit 24
1With c
3, c
2With c
4Enter differential amplifier respectively, carry out difference processing after, send into single-chip microcomputer and make Subdividing Processing.
Table 1
| 0°～45° | 45°～ 90° | 90°～ 135° | 135°～ 180° | 180°～ 225° | 225°～ 270° | 270°～ 315° | 315°～ 360° | |
| a1 | A1 | A1 | A1 | A1 | ||||
| a2 | A1 | A1 | A1 | A1 | ||||
| a3 | A1 | A1 | A1 | A1 | ||||
| a4 | A1 | A1 | A1 | A1 |
Table 2
| 0°～45° | 45°～ 90° | 90°～ 135° | 135°～ 180° | 180°～ 225° | 225°～ 270° | 270°～ 315° | 315°～ 360° | |
| b1 | A4 | A4 | A5 | A6 | A7 | A8 | A9 | A10 |
| b2 | A10 | A4 | A4 | A5 | A6 | A7 | A8 | A9 |
| b3 | A9 | A10 | A4 | A4 | A5 | A6 | A7 | A8 |
| b4 | A8 | A9 | A10 | A4 | A4 | A5 | A6 | A7 |
| b5 | A7 | A8 | A9 | A10 | A4 | A4 | A5 | A6 |
| b6 | A6 | A7 | A8 | A9 | A10 | A4 | A4 | A5 |
| b7 | A5 | A6 | A7 | A8 | A9 | A10 | A4 | A4 |
| b8 | A4 | A5 | A6 | A7 | A8 | A9 | A10 | A4 |
Claims (3)
1. one kind has the miniature absolute type encoder that sixteen bit is exported, comprise main shaft (14), be arranged on axle sleeve (16) on the main shaft (14), be nested with shell (17), eight matrix coder dishes (25), slit (24), light-emitting component, photelectric receiver, single-chip microcomputer (19), interface chip (20), comparer (21) and Voltage stabilizing module (22) on axle sleeve (16), it is characterized in that: on described eight matrix coder dishes (25) and the concentric top that is installed in main shaft (14) of main shaft (14) by bearing (15); Described light-emitting component is to be made of eight luminotrons (27～34) that are arranged on the luminotron circuit board (26), and luminotron circuit board (26) is installed in the groove of axle sleeve (16) bottom; Described slit (24) is fixed on the top shoulder of axle sleeve (16) by slit base (23), is positioned at the top of eight matrix coder dishes; Picking up a land described photelectric receiver (35～50) is arranged on the top of axle sleeve (16) by a data processing plate (18); Pick up land described photelectric receiver and be complementary, send and pass through code-wheel transparent zone and slit window transparent zone and the light signal that obtains to receive from luminotron with slit position of window and quantity;
The output terminal of described Voltage stabilizing module 22 is connected with the input end of single-chip microcomputer (19); The input end of described comparer (21) is connected with the output terminal of the 15 photelectric receiver (47), the 16 photelectric receiver (48), second photelectric receiver (49), the 3rd photelectric receiver (50) respectively; The output terminal of comparer (21) is connected with the input end of single-chip microcomputer (19); The output terminal of the 4th photelectric receiver (35), the 5th photelectric receiver (36), the 6th photelectric receiver (37), the 7th photelectric receiver (38), the 8th photelectric receiver (39), the 9th photelectric receiver (40), the tenth photelectric receiver (41), the 11 photelectric receiver (42), the 12 photoelectric receiving tube (43) the 13 photelectric receiver (44), the 14 photelectric receiver (45), first photelectric receiver (46) is connected with the input end of single-chip microcomputer (19) respectively.
2. the miniature absolute type encoder with sixteen bit output according to claim 1, it is characterized in that: be carved with three circle channel on the described eight matrix coder dishes (25), its first lap code channel has the transparent zone of half, and start angle is 90 °, and termination point is 270 °; The second circle code channel is by the positional alignment of eight quadrants, promptly be divided on the whole circumference between 0 °～45 °, 45 °～90 °, 90 °～135 °, 135 °～180 °, 180 °～225 °, 225 °～270 °, 270 °～315 °, 315 °～360 ° eight fan sections, be carved with the coding of seven kinds of different cycles, scribe 1 transparent zone in 0 °～45 ° zones, the cycle is 360 °/2
3, start angle is 360 °/2
5Scribe 2 transparent zones in 45 °～90 ° zones, the cycle is 360 °/2
4, start angle is 360 °/2
6Scribe 4 transparent zones in 90 °～135 ° zones, the cycle is 360 °/2
5, start angle is 360 °/2
7Scribe 8 transparent zones in 135 °～180 ° zones, the cycle is 360 °/2
6, start angle is 360 °/2
8Scribe 16 transparent zones in 180 °～225 ° zones, the cycle is 360 °/2
7, start angle is 360 °/2
9Scribe 32 transparent zones in 225 °～270 ° zones, the cycle is 360 °/2
8, start angle is 360 °/2
10Scribe 1 transparent zone in 270 °～360 ° zones, the cycle is 360 °/2
2, start angle is 360 °/2
4Three circle channel is smart sign indicating number code channel, is to be carved with equally spaced 1,024 transparent zones and opaque zone on whole circumference, and 0 ° of line passes the center of a transparent zone, and logical light and opaque zone are 360 °/2
11
3. the miniature absolute type encoder with sixteen bit output according to claim 1 is characterized in that: be carved with three circle codings on the described slit (24), first lap is carved with a successively on 315 °, 270 °, 225 ° and 180 ° of positions
1, a
2, a
3And a
4Four single seams read eight matrix coder dish first laps coding, and corresponding successively with the 4th, the 6th, the 8th, the tenth photelectric receiver (35,37,39,41); Second circle is carved with b successively on 8 positions of 225 °, 270 °, 315 °, 0 °, 45 °, 90 °, 135 °, 180 ° angles
1, b
2, b
3, b
4, b
5, b
6, b
7And b
8Eight single seams read the coding of eight matrix coder dishes, second circle, and with the the the 9th, the 7th, the 5th, first, the 14, the 13, the 12, the 11 photelectric receiver (40,38,36,46,45,44,43,42) is corresponding successively; The 3rd circle is provided with c
1, c
2, c
3, c
4The window of seam more than four is with the 15, the 16, second, third photelectric receiver (47,48,49,50) is corresponding successively, c
1And c
2Be distributed in 22.5 ° of line both sides, c
1Become 49.658203125 ° of angles, c with 0 ° of line
2Become 40.4296875 ° of angles, c with 0 ° of line
3And c
4Be distributed in 0 ° of line both sides, c
3Become 4.482421875 ° of angles, c with 0 ° of line
4Become-4.39453125 ° of angles with 0 ° of line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101876116A CN101441093B (en) | 2008-12-29 | 2008-12-29 | Minitype absolute encoder with sixteen bit output |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101876116A CN101441093B (en) | 2008-12-29 | 2008-12-29 | Minitype absolute encoder with sixteen bit output |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101441093A CN101441093A (en) | 2009-05-27 |
| CN101441093B true CN101441093B (en) | 2010-09-08 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102410852A (en) * | 2010-09-21 | 2012-04-11 | 上海派恩科技有限公司 | Absolute encoder |
| CN102226702A (en) * | 2011-03-22 | 2011-10-26 | 王天甜 | Increment type photoelectric encoder |
| CN103512598B (en) * | 2013-08-16 | 2015-10-28 | 衢州学院 | a kind of absolute type matrix encoder |
| CN105509779B (en) * | 2015-12-01 | 2018-02-13 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of absolute optical code disc and photoelectric encoder |
| CN109238317A (en) * | 2018-08-01 | 2019-01-18 | 广东工业大学 | A kind of Simple Realizable Method of rotation absolute encoder under unusual service condition |
| CN114432662A (en) * | 2022-01-26 | 2022-05-06 | 嘉兴职业技术学院 | Pull-up trainer |
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