CN101769765A - Code wheel with single code channel structure for incremental photoelectric encoder - Google Patents
Code wheel with single code channel structure for incremental photoelectric encoder Download PDFInfo
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Abstract
The invention relates to a code wheel with a single code channel structure for an incremental photoelectric encoder. The code wheel is characterized by generating a count pulse, a direction-distinguishing signal and a zero signal by using one code channel. The code wheel is divided into a plurality of groups, and each group is divided into six small sectors. Opengrid holes are arranged in a first small sector, a second small sector, a third small sector and a fifth small sector in one of the plurality of groups, and grid holes are arranged in a fourth small sector and a sixth small sector. Except for the group, a first small sector, a second small sector, a third small sector, a fourth small sector and a fifth small sector in each of the other groups are not provided with the opengrid holes, and a sixth small sector is provided with a grid hole. Corresponding to the novel design of the code wheel, a slit wheel is provided with three slits, namely a slit A, a slit B and a slit C which are arranged along the same circumferential direction; the radius of the circumference is equal to that of the single code channel of the code wheel; and the distance between the slit A and the slit B and the distance between the slit B and the slit C are equal to the angular width of one small sector on the code wheel. The designed code wheel has the advantage of no accumulated error, simplifier structure and high resolution factor.
Description
Technical field
The present invention relates to the code-disc of incremental optical-electricity encoder, belong to the angular position measurement field of sensing technologies.
Background technology
Optical electric axial angle encoder is called for short photoelectric encoder, is a kind of light harvesting, mechanical, electrical in the digital angle measurement device of one, has a wide range of applications in fields such as Industry Control and electromechanical equipments.
The structure of photoelectric encoder is generally by light source, code-disc, and slit plate, photoelectric apparatus, electronic information treatment circuit etc. are partly formed.The mechanical rotating shaft and the code-disc of photoelectric encoder fuse, and are used for linking to each other with the output shaft of tested object.
By the coded system classification that forms code-disc, photoelectric encoder has two kinds of increment type and absolute types.The structure of increment type and the texture ratio of absolute type have tangible difference, and principle of work is also inequality.Introduce the code-disc structure and the principle of work of incremental optical-electricity encoder below.
Traditional incremental optical-electricity encoder, the characteristics of the coded system that its code-disc adopts are: use the method for phase demodulation to differentiate the direction that code-disc rotates, use the position, angle of the method record code-disc rotation of step-by-step counting.
Specifically, its code-disc generally has three code channels: the A code channel, and the B code channel, the Z code channel, as shown in Figure 3.A code channel and the grid hole above the B code channel (each code channel that only drawn among the figure has 8 grid holes, actual product, and the grid hole count is generally many than this number.) on circumference separately, evenly distribute, and the cycle equate, but phase differential 1/4th pitches.The slit plate corresponding with Fig. 3 as shown in Figure 4, slit A, slit B, slit Z distribute vertically, are arranged in the A code channel with code-disc, the B code channel is on the axial location of Z code channel correspondence.Code-disc rotates during work, and slit plate is motionless.When code-disc was just changeing, the A phase signals that photoelectric apparatus is received was than leading 1/4th pitches of B phase signals; During counter-rotating, the B phase signals is than leading 1/4th pitches of A phase signals.Utilize this difference of code channel,, determine that counting circuit is to add counting to photoimpact, still subtracts counting, thereby finishes the measurement of relative angular displacement by the electronics phase demodulation.The Z code channel has only a grid hole, is used for determining the zero-bit of code-disc.
People's Republic of China's national inventing patent " digital method is differentiated the incremental optical-electricity encoder code-disc of rotation direction " (patent No. ZL200810106816.7), invented a kind of code-disc of differentiating the incremental optical-electricity encoder of rotation direction with digital method, the characteristics of the coded system that its code-disc adopts are: whole code-disc is divided into some groups, every group of three kinds of angle location statuss that are divided into available binary number representation again, the electronic information treatment circuit is differentiated the direction that code-disc rotates according to the situation of state transitions, and determine that in view of the above counting circuit is to add counting to photoimpact, still subtract counting, thereby finish the measurement of relative angular displacement.The elaboration of detailed sensing principle of work and counting principle of work can just have been omitted here referring to the instructions of patent of invention.The advantage of this patent of invention is:
The shortcoming of traditional incremental optical-electricity encoder is that accumulated error is arranged, and the incremental optical-electricity encoder with the code-disc of top patent of invention is made does not have accumulated error.And the traditional code-disc of the code channel texture ratio of code-disc is simple, helps the raising of resolution.But the code-disc of this patent of invention still has three code channels.
We were by discovering afterwards, and top patent of invention can be improved, and three code channels can make two code channels into.After simplifying the code channel structure, help the raising of resolution.This discovery has been applied for utility model patent " simplifying the incremental optical-electricity encoder code-disc of code channel structure ", application number ZL200920141746.9 on February 23rd, 2009 to State Intellectual Property Office.
Summary of the invention
Purpose of the present invention just provides a kind of solid size road structure incremental optical-electricity encoder code-disc, and feature is to produce count pulse, sensing signal, zero signal with a code channel; The structure of code-disc as shown in Figure 1, code-disc has been divided into 8 groups, actual product can be tens, and is up to a hundred, thousands of, or even up to ten thousand groups.Every group be divided into again 6 little fan-shaped.No matter how many groups code-disc is divided into, and wherein has one group, and has only one group, and the the the 1st, the 2nd, the 3rd, the 5th little does not open the grid hole on fan-shaped, and the 4th, the 6th little has the grid hole on fan-shaped, and for the convenience of following elaboration principle of work, this group abbreviates specific group as.Except that this group, other each group, the the the 1st, the 2nd, the 3rd, the 4th, the 5th little does not open the grid hole on fan-shaped, and the 6th little has the grid hole on fan-shaped, and same, for the convenience of following elaboration principle of work, these groups abbreviate common group as.Corresponding with the innovative design of code-disc, slit plate has three slits: slit A, slit B, slit C, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.For example corresponding with code-disc Fig. 1 slit plate as shown in Figure 2.
The principle of work of the technical program divides two parts to set forth, and first is the principle of work of counting and sensing, and second portion is back zero principle of work.Code-disc rotates during work, and slit plate is motionless, and contrast Fig. 1 and Fig. 2 describe below.
First sets forth the principle of work of counting and sensing, is that common group of code-disc and the slit of slit plate have overlapping relation at this moment.When code-disc is just changeing, the 6th the little fan-shaped position that forwards the A slit place of slit plate to of code-disc, the photoelectric apparatus of A slit back can be received the photoelectric pulse signal of high level at this moment, and B slit and C slit do not have the light of light source to pass through, the photoelectric apparatus that is B slit and C slit back does not have photoelectric pulse signal, if the photoelectric pulse signal that we will receive high level is represented with numeral 1, confiscating photoelectric pulse signal represents with numeral 0, binary number is exactly 100B so, and 100B is defined as state one; Code-disc continues just to change, the 6th the little fan-shaped position that forwards the B slit place of slit plate to of code-disc, the photoelectric apparatus of B slit back can be received the photoelectric pulse signal of high level at this moment, and A slit and C slit do not have the light of light source to pass through, the photoelectric apparatus that is A slit and C slit back does not have photoelectric pulse signal, if the photoelectric pulse signal that we will receive high level is represented with numeral 1, confiscating photoelectric pulse signal represents with numeral 0, binary number is exactly 010B so, and 010B is defined as state two; Code-disc continues just to change again, the 6th the little fan-shaped position that forwards the C slit place of slit plate to of code-disc, the photoelectric apparatus of C slit back can be received the photoelectric pulse signal of high level at this moment, and A slit and B slit do not have the light of light source to pass through, the photoelectric apparatus that is A slit and B slit back does not have photoelectric pulse signal, if the photoelectric pulse signal that we will receive high level is represented with numeral 1, confiscating photoelectric pulse signal represents with numeral 0, binary number is exactly 001B so, and 001B is defined as state three.Code-disc just changes always, and the photosignal that the photoelectric apparatus of the photoelectric apparatus of A slit back, B slit back, the photoelectric apparatus of C slit back are received will be the repetition that state one arrives state three again to state two, and circulation is gone down always.
During the code-disc counter-rotating, copy top analysis, be easy to find out, the photosignal that the photoelectric apparatus of the photoelectric apparatus of A slit back, B slit back, the photoelectric apparatus of C slit back are received, to be the repetition that state three arrives state one again to state two, and circulation be gone down always.
Clearly, the electronic information treatment circuit can be followed the order according to state variation fully, differentiates the direction that code-disc rotates.The number of times that bonding state changes is finished the counting that adds to rotational pulse, or is subtracted counting, thereby finishes the measurement of relative angular displacement.
Second portion is set forth back zero principle of work, is that the specific group of code-disc and the slit of slit plate have overlapping relation at this moment, and can occur on the code-disc two grid holes simultaneously and two situations that slit is overlapping on the slit plate.The code-disc this situation that whenever turns around has three times, and has only three times, choosing wherein once as returning zero-signal, be explained in detail below.In order to set forth the convenience of problem, Fig. 5 and Fig. 6 have been increased.
Fig. 5 is that slit plate is motionless, when code-disc is just changeing, and grid hole on the code-disc and the overlapping situation of slit on the slit plate.Fig. 5 has comprised (1)～(4) totally 4 substep figure, and the top delegation of each substep figure is the part stretch-out view of code-disc, below delegation be the stretch-out view of slit plate, the slit of slit plate is A slit, B slit, C slit.Contrast substep figure (1), a grid hole on B slit and the code-disc is overlapping at this moment, the photoelectric apparatus of B slit back can be received the photoelectric pulse signal of high level, the photoelectric apparatus of A slit and C slit back does not have photoelectric pulse signal, if the photoelectric pulse signal that we will receive high level is represented with numeral 1, confiscate photoelectric pulse signal and represent that with numeral 0 binary number is exactly 010B so; Contrast substep figure (2), grid hole on A slit, C slit and the code-disc is overlapping at this moment, the photoelectric apparatus of A slit, C slit back can be received the photoelectric pulse signal of high level, and the photoelectric apparatus of B slit back does not have photoelectric pulse signal, and corresponding binary number is 101B; Contrast substep figure (3), grid hole on A slit, B slit and the code-disc is overlapping at this moment, the photoelectric apparatus of A slit, B slit back can be received the photoelectric pulse signal of high level, and the photoelectric apparatus of C slit back does not have photoelectric pulse signal, and corresponding binary number is 110B; Contrast substep figure (4), grid hole on B slit, C slit and the code-disc is overlapping at this moment, the photoelectric apparatus of B slit, C slit back can be received the photoelectric pulse signal of high level, and the photoelectric apparatus of A slit back does not have photoelectric pulse signal, and corresponding binary number is 011B.From top analysis as can be seen, when the slit of the specific group of code-disc and slit plate is overlapping, can occur on the code-disc two grid holes simultaneously and two situations that slit is overlapping on the slit plate, this situation has three times, corresponding binary number is respectively 101B, 110B, 011B.
Fig. 6 is that slit plate is motionless, during the code-disc counter-rotating, and grid hole on the code-disc and the overlapping situation of slit on the slit plate.Adopt and the same analytical approach of Fig. 5, as can be seen, the photoelectric pulse signal that this moment, A slit, B slit, the photoelectric apparatus of C slit back were received will be: contrast substep figure (2), and the binary number of correspondence is 011B; Contrast substep figure (3), corresponding binary number is 110B, contrast substep figure (4), corresponding binary number is 101B.The analysis result of synthesizing map 5 and Fig. 6, as can be seen, code-disc whenever turns around and can occur once, and only can occur binary number 110B one time, is feasible with binary number 110B as returning zero-signal therefore, and 011B, 101B is still as count pulse.
Top analysis explanation, the code-disc of the present invention's design and the code-disc of patent of invention ZL200810106816.7 compare, and the principle of work of differentiating rotation direction is similar, but has only a code channel, and has comprised time zero function.The code-disc of the present invention's design has the advantage that does not have accumulated error equally, also has the simple more advantage of code-disc structure simultaneously.The code-disc miniaturization that helps product simple in structure helps the raising of product resolution in other words.
Description of drawings
Fig. 1 is a code-disc structural representation of the present invention, has only used a code channel just can produce count pulse, sensing signal, zero signal.Black partly is the grid hole of logical light among the figure, and all on a code channel, AB represents that counting use the grid hole, and 8 in this grid hole is arranged among the figure, and actual product has tens, and is up to a hundred, thousands of individual; Z represents go back to small incidental expenses grid hole, and Z grid hole has only one.
Fig. 2 is a slit plate structural representation of the present invention.Black partly is the slit of logical light among the figure, and A represents the A slit, and B represents the B slit, and C represents the C slit.
Fig. 3 is the code-disc structural representation of prior art, and prior art adopts the phase demodulation method to differentiate the rotation direction of code-disc.A represents the A code channel among the figure, and B represents the B code channel, and Z represents the Z code channel, and black partly is the grid hole of logical light.
Fig. 4 is the slit plate structural representation of prior art.A represents the A slit corresponding with the A code channel among the figure, and B represents the B slit corresponding with the B code channel, and Z represents the Z slit corresponding with the Z code channel, and black partly is the slit of logical light.
Fig. 5 is a code-disc of the present invention when just changeing, the superimposed relationship synoptic diagram of the specific group of code-disc and slit plate.
When Fig. 6 is code-disc of the present invention counter-rotating, the superimposed relationship synoptic diagram of the specific group of code-disc and slit plate.Fig. 5
Fig. 6 is used to illustrate of the present invention time zero principle of work.
Embodiment
The structure of code-disc as shown in Figure 1, the code-disc among the figure has only a code channel, has been divided into 8 groups along the circumferencial direction of code channel, actual product can be tens, and is up to a hundred, thousands of, or even up to ten thousand groups, every group be divided into again 6 little fan-shaped.No matter how many groups code-disc is divided into, and wherein has one group, and has only one group, and the the the 1st, the 2nd, the 3rd, the 5th little does not open the grid hole on fan-shaped, and the 4th, the 6th little has the grid hole on fan-shaped.Except that this group, other each group, the the the 1st, the 2nd, the 3rd, the 4th, the 5th little does not open the grid hole on fan-shaped, and the 6th little has the grid hole on fan-shaped.Corresponding with the innovative design of code-disc, slit plate has three slits: slit A, slit B, slit C, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.For example corresponding with code-disc Fig. 1 slit plate as shown in Figure 2.
During concrete enforcement, several situations are identical with top implementation result below also having.(1) code-disc is divided into some groups, every group be divided into again 6 little fan-shaped.Wherein have one group, and have only one group, the the the 1st, the 3rd, the 4th, the 5th little does not open the grid hole on fan-shaped, and the 2nd, the 6th little has the grid hole on fan-shaped.Except that this group, other each group, the the the 1st, the 2nd, the 3rd, the 4th, the 5th little does not open the grid hole on fan-shaped, and the 6th little has the grid hole on fan-shaped.Corresponding with the innovative design of code-disc, slit plate has three slits: slit A, slit B, slit C, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.(2) code-disc is divided into some groups, every group be divided into again 6 little fan-shaped.Wherein have one group, and have only one group, the the the 2nd, the 4th, the 5th, the 6th little does not open the grid hole on fan-shaped, and the 1st, the 3rd little has the grid hole on fan-shaped.Except that this group, other each group, the the the 2nd, the 3rd, the 4th, the 5th, the 6th little does not open the grid hole on fan-shaped, and the 1st little has the grid hole on fan-shaped.Corresponding with the innovative design of code-disc, slit plate has three slits: slit A, slit B, slit C, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.(3) code-disc is divided into some groups, every group be divided into again 6 little fan-shaped.Wherein have one group, and have only one group, the the the 2nd, the 3rd, the 4th, the 6th little does not open the grid hole on fan-shaped, and the 1st, the 5th little has the grid hole on fan-shaped.Except that this group, other each group, the the the 2nd, the 3rd, the 4th, the 5th, the 6th little does not open the grid hole on fan-shaped, and the 1st little has the grid hole on fan-shaped.Corresponding with the innovative design of code-disc, slit plate has three slits: slit A, slit B, slit C, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.
Claims (2)
1. the incremental optical-electricity encoder code-disc of a solid size road structure, this code-disc has only a code channel, and requires to have slit plate to cooperate, and can produce counting, sensing, zero signal.It is characterized in that: code-disc has been divided into some groups, every group be divided into again 6 little fan-shaped.No matter what divide into groups, wherein have one group, and have only one group, the the the 1st, the 2nd, the 3rd, the 5th little does not open the grid hole on fan-shaped, has the grid hole on the 4th, the 6th the little fan-shaped code channel.Except that this group, other each group, the the the 1st, the 2nd, the 3rd, the 4th, the 5th little does not open the grid hole on fan-shaped, has the grid hole on the 6th the little fan-shaped code channel.
2. the code-disc of chatting as claim 1 requires to have a slit plate to cooperate.The feature of slit plate is: three slits-slit A, slit B, slit C are arranged, and they are arranged along the direction of same circumference; The radius in the solid size road of the radius of circumference and code-disc equates; Interval between slit A and the slit B, between slit B and the slit C equals little fan-shaped angular width on the code-disc.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101984328A (en) * | 2010-08-20 | 2011-03-09 | 西南交通大学 | Single-code channel photoelectric coder |
| WO2017198220A1 (en) * | 2016-05-19 | 2017-11-23 | 深圳市越疆科技有限公司 | Robot, and rotation measurement apparatus and method |
| CN109470279A (en) * | 2019-01-02 | 2019-03-15 | 宝鸡文理学院 | Absolute code coder and its coding method |
| CN110954145A (en) * | 2019-12-10 | 2020-04-03 | 杭州慧灵控制工程有限公司 | Detection device and method for incremental code channel |
| CN111279158A (en) * | 2019-04-23 | 2020-06-12 | 大族激光科技产业集团股份有限公司 | Grating disc and feedback system |
| CN111307187A (en) * | 2020-03-20 | 2020-06-19 | 大连探索者科技有限公司 | Rapid zero-finding microminiature incremental angle sensor and measuring method thereof |
| CN111332504A (en) * | 2020-03-12 | 2020-06-26 | 北京理工大学 | Low-speed driving device of satellite and quick positioning method using same |
| CN114846301A (en) * | 2020-12-01 | 2022-08-02 | 深圳市速腾聚创科技有限公司 | Grating disc, Z-phase signal identification method, photoelectric encoder and laser radar |
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2010
- 2010-01-29 CN CN201010103258A patent/CN101769765A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101984328A (en) * | 2010-08-20 | 2011-03-09 | 西南交通大学 | Single-code channel photoelectric coder |
| CN101984328B (en) * | 2010-08-20 | 2012-03-21 | 西南交通大学 | Single-code channel photoelectric coder |
| WO2017198220A1 (en) * | 2016-05-19 | 2017-11-23 | 深圳市越疆科技有限公司 | Robot, and rotation measurement apparatus and method |
| CN109470279A (en) * | 2019-01-02 | 2019-03-15 | 宝鸡文理学院 | Absolute code coder and its coding method |
| CN109470279B (en) * | 2019-01-02 | 2024-05-07 | 宝鸡文理学院 | Absolute code encoder and encoding method thereof |
| CN111279158A (en) * | 2019-04-23 | 2020-06-12 | 大族激光科技产业集团股份有限公司 | Grating disc and feedback system |
| CN110954145A (en) * | 2019-12-10 | 2020-04-03 | 杭州慧灵控制工程有限公司 | Detection device and method for incremental code channel |
| CN111332504A (en) * | 2020-03-12 | 2020-06-26 | 北京理工大学 | Low-speed driving device of satellite and quick positioning method using same |
| CN111332504B (en) * | 2020-03-12 | 2021-08-27 | 北京理工大学 | Low-speed driving device of satellite and quick positioning method using same |
| CN111307187A (en) * | 2020-03-20 | 2020-06-19 | 大连探索者科技有限公司 | Rapid zero-finding microminiature incremental angle sensor and measuring method thereof |
| CN114846301A (en) * | 2020-12-01 | 2022-08-02 | 深圳市速腾聚创科技有限公司 | Grating disc, Z-phase signal identification method, photoelectric encoder and laser radar |
| CN114846301B (en) * | 2020-12-01 | 2024-02-27 | 深圳市速腾聚创科技有限公司 | Grating disc, Z-phase signal identification method, photoelectric encoder and laser radar |
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