CN102506905B - A kind of High Precision Absolute Encoder - Google Patents
A kind of High Precision Absolute Encoder Download PDFInfo
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- CN102506905B CN102506905B CN201110351786.8A CN201110351786A CN102506905B CN 102506905 B CN102506905 B CN 102506905B CN 201110351786 A CN201110351786 A CN 201110351786A CN 102506905 B CN102506905 B CN 102506905B
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Abstract
The present invention relates to a kind of High Precision Absolute Encoder.Described scrambler comprises the wheel that a radius changes with angle, a gear, one group of position transducer, a surface-mounted integrated circuit for processing sensor output signal, the wheel that described radius changes with angle is coaxially connected with gear, described position transducer is positioned at the wheel periphery that described radius changes with angle, and described position transducer and the described surface-mounted integrated circuit for processing sensor output signal are electrically connected.The described surface-mounted integrated circuit for processing sensor output signal also can comprise counter in order to calculation code device rotating cycle.Adopt High Precision Absolute Encoder in this way, compare common photoelectric encoder precision high, the wide advantage of operating temperature range can be born.
Description
Technical field
The present invention relates to High Precision Absolute Encoder, being mainly used in industrial automation needs pinpoint occasion, is particularly useful for the position feedback etc. of servomotor.
Background technology
The absolute type encoder that servomotor is equipped with is generally photoelectric encoder, and its structure comprises LED, photoelectric code disk, receiving trap and integral control circuit etc.Photoelectric encoder price is high, and it is higher that it applies environmental requirement to external world, can not bear the mal-conditions such as high temperature, dust, greasy dirt, vibration.
Patent: although 201010557782.0 absolute type encoders described adopt gear structure, improve resolution when miniaturization.But this coder structure adopts three gears to install side by side, for each gear is equipped with two magnetic flux detecting elements respectively, it installs the bad guarantee of quality of fit, cost is higher, and its computation process complexity can not meet the demand that modern industry produces high-speed, high precision miniaturization.
Summary of the invention
The object of the invention is to the defect overcoming photoelectric encoder, High Precision Absolute Encoder is provided, this scrambler precision is high, can bear the temperature range wider than photoelectric encoder, has the ability of the extraneous mal-conditions such as stronger anti-dust, greasy dirt, vibration.
For achieving the above object, the technical solution adopted in the present invention is: described scrambler comprises the wheel that a radius changes with angle, a gear, one group of position transducer, a surface-mounted integrated circuit for processing sensor output signal, the wheel that described radius changes with angle is coaxially connected with gear, described position transducer is positioned at the wheel periphery that described radius changes with angle, and described position transducer and the described surface-mounted integrated circuit for processing sensor output signal are electrically connected.
The wheel that radius changes with angle and gear are synchronized with the movement with motor shaft, position transducer is arranged on the wheel periphery that radius changes with angle, when radius rotates with motor shaft with the wheel that angle changes, position transducer detects its change in radius, thus know the motor shaft anglec of rotation, judge motor shaft absolute position.
Further described radius can adopt radius to change and the wheel of linear change with angle with the wheel that angle changes.
Further described radius can adopt radius to change and the wheel of steps change with angle with the wheel that angle changes, the step number of the wheel of described steps change need with the gear number of teeth, and position transducer detects which tooth of the corresponding gear that the radial location of ladder and known scrambler forward to.
Further described gear is trapezoidal gear or saw-toothed gear wheel.
Further described sensor is position transducer is Magnetic Sensor, Hall element or laser sensor or the combination for each sensor.
If on gear with adjacent two teeth for one-period, then two position transducers are arranged on outside circumference of gear, phase 1/4 cycle, when gear rotates with motor shaft, two positions sensor output voltage phase 90 °.By judging the advanced or delayed 90 ° of sense of rotation judging motor shaft of two sensors output voltage.The wheel that radius changes with angle often exports a sinusoidal waveform with the motor shaft position transducer that rotates a circle, gear often rotates angle corresponding to a tooth, then gear outer sensor exports a sine wave, thus can judge the position of motor shaft on the wheel basis that aforementioned radius changes with angle more accurately, and precision is proportional to the gear number of teeth and A/D conversion accuracy.The output valve of three position transducers is simultaneously through A/D conversion, and DSP process can accurately judge motor sense of rotation and position, thus completes High Precision Absolute Encoder function.
According to above structure, compared to photoelectric rotary coder, the High Precision Absolute Encoder precision that the present invention proposes is high, has wider Acclimation temperature scope, the ability of the extraneous mal-condition such as stronger anti-dust, greasy dirt, vibration.
Accompanying drawing explanation
Fig. 1 is the inner structure schematic diagram of High Precision Absolute Encoder.
Fig. 2 is the wheel and sensor mounting location schematic diagram that judge that the radius of motor absolute position changes with angle.
Fig. 3 is the gear and the sensor mounting location schematic diagram that judge motor sense of rotation and motor exact position.
Fig. 4 is the position transducer output voltage schematic diagram on gear.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the High Precision Absolute Encoder that the present invention proposes is described further.
Fig. 1 is the inner structure schematic diagram of High Precision Absolute Encoder of the present invention, and in the present embodiment, radius adopts radius with the wheel of angle linear change with the wheel that angle changes, and gear adopts trapezoidal gear.This scrambler mainly comprises one for judging the wheel 1 of the radius of motor absolute position with angle linear change, one for judging the gear 2 of motor sense of rotation and motor exact position, three position transducers 3,4,5, a surface-mounted integrated circuit 6 for processing sensor output signal, and axle sleeve 7 and scrambler shell.
Radius is fixed on axle sleeve 7 with the wheel 1 of angle linear change can rotates with motor shaft with gear 2.Position transducer 3 is arranged on radius with outside wheel 1 excircle of angle linear change, as shown in Figure 2.Radius often rotates an angle with motor shaft with the wheel 1 of angle linear change, and position transducer 3 can record different radius value r=r
0+ h θ/360, r
0for taking turns 1 excircle least radius and known, h is that wheel 1 excircle least radius and maximum radius are only poor and known, and θ is the scrambler anglec of rotation, and scrambler turns over angle θ=(r-r as from the foregoing
0) 360/h, the output of position transducer 3 send DSP process after the A/D converter conversion on surface-mounted integrated circuit 6, thus judges the absolute position that motor rotates, which the tooth i=θ n/360 namely now in corresponding gear, θ is the anglec of rotation that upper step obtains, i.e. i=(r-r
0) n/h, i round numbers, n is the total number of teeth of gear and known.
On gear 2 with adjacent two teeth for one-period, two position transducers 4,5 are arranged on gear 2 periphery, phase 1/4 cycle, and scheme of installation is as shown in Figure 3.When gear 2 moves with motor shaft, often turn over the angle that a tooth is corresponding, two positions sensor 4,5 respectively exports a sinusoidal waveform, and its phase 90 °, waveform as shown in Figure 4.
The each sinusoidal wave electric signal that position transducer exports by A/D converter is with 0 ~ 2
mthe numeric representation of-1.Numerical value after A/D conversion send DSP process, if sensor 4 comparatively sensor 5 export phase place advanced 90 ° for motor forward direction, then comparatively sensor 5 exports delayed phase 90 ° to sensor 4 is motor reversal direction.
Be n by the said gear number of teeth, then the angle that each tooth is corresponding is 360/n, when the numerical value j after A/D conversion is positioned at 0 ~ 2
mduring a number between-1, then motor turns over angle is θ '=i360/n+j360/2
mn, wherein i is above-mentioned which tooth of trying to achieve.
By above-mentioned calculating, obtain single-revolution absolute type encoder, a counter can be added when wanting to use how all absolute type encoders calculate scrambler rotating cycle in signal processing.
Claims (6)
1. a High Precision Absolute Encoder, it is characterized in that: described scrambler comprises the wheel that a radius changes with angle change, a gear, three position transducers, a surface-mounted integrated circuit for processing sensor output signal, with angle change, the wheel of change is coaxially connected with gear described radius, primary importance sensor is positioned at the wheel periphery that described radius changes with angle change, and described first, second, and third 3 position transducers and surface-mounted integrated circuit are electrically connected;
Accurate judgement motor position is specially: with angle change, the wheel of change often rotates an angle with motor shaft to radius, and primary importance sensor can record different radius value r=r
0+ h θ/360, r
0for wheel excircle least radius and known, h takes turns the difference of excircle least radius and maximum radius and known, and θ is the scrambler anglec of rotation, and scrambler turns over angle θ=(r-r as from the foregoing
0) 360/h, the output of primary importance sensor send DSP process after the A/D converter conversion on surface-mounted integrated circuit, thus judges the absolute position that motor rotates, which the tooth i=θ n/360 namely now in corresponding gear, θ is the anglec of rotation that upper step obtains, i.e. i=(r-r
0) n/h, i round numbers, n is the total number of teeth of gear and known; If on gear with adjacent two teeth for one-period, then the second place and the 3rd position transducer are arranged on outside circumference of gear, phase 1/4 cycle, when gear rotates with motor shaft, the second place and the 3rd position transducer output voltage phase 90 °; By judging the advanced or delayed 90 ° of sense of rotation judging motor shaft of this two sensors output voltage; With angle change, the wheel of change often exports a sinusoidal waveform with the motor shaft primary importance sensor that rotates a circle to radius, gear often rotates angle corresponding to a tooth, then second and the 3rd position transducer respectively export a sine wave, thus with angle change, the wheel basis of change can judge more accurately the position of motor shaft at aforementioned radius, and precision is proportional to the gear number of teeth and A/D conversion accuracy; The output valve of three position transducers is simultaneously through A/D conversion, and DSP process can accurately judge motor sense of rotation and position.
2. High Precision Absolute Encoder as claimed in claim 1, is characterized in that: with angle change, the wheel of change adopts radius to change and the wheel of linear change with angle to described radius.
3. High Precision Absolute Encoder as claimed in claim 1 or 2, is characterized in that: described gear is trapezoidal gear.
4. High Precision Absolute Encoder as claimed in claim 1 or 2, is characterized in that: described gear is saw-toothed gear wheel.
5. High Precision Absolute Encoder as claimed in claim 1 or 2, is characterized in that: described three position transducers are Magnetic Sensor or laser sensor or the combination for these sensors.
6. High Precision Absolute Encoder as claimed in claim 1, is characterized in that: the described surface-mounted integrated circuit for processing sensor output signal comprises counter in order to calculation code device rotating cycle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110351786.8A CN102506905B (en) | 2011-10-22 | 2011-10-22 | A kind of High Precision Absolute Encoder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110351786.8A CN102506905B (en) | 2011-10-22 | 2011-10-22 | A kind of High Precision Absolute Encoder |
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| Publication Number | Publication Date |
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| CN102506905A CN102506905A (en) | 2012-06-20 |
| CN102506905B true CN102506905B (en) | 2015-08-26 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9322635B2 (en) * | 2013-07-08 | 2016-04-26 | Emerson Process Management, Valve Automation, Inc. | Absolute positions detectors |
| CN105628955B (en) * | 2015-12-25 | 2018-10-30 | 南京南瑞集团公司 | A kind of speed measuring device and its speed-measuring method of pump-storage generator static frequency changer |
| CN106225814B (en) * | 2016-07-14 | 2018-11-20 | 长春禹衡光学有限公司 | A kind of gear type magnetic encoder |
| DE102017214166A1 (en) * | 2017-08-14 | 2019-02-14 | Volkswagen Aktiengesellschaft | Speed sensor assembly |
| JP6860076B2 (en) * | 2017-12-27 | 2021-04-14 | 京セラドキュメントソリューションズ株式会社 | Fixing device and image forming device |
| CN108896076B (en) * | 2018-06-07 | 2020-09-11 | 广东工业大学 | Absolute encoder |
| CN109029511B (en) * | 2018-07-25 | 2024-04-05 | 苏州少士新创电子科技有限公司 | Double-coding high-precision magnetic encoder and motor with same |
| CN110031029B (en) * | 2019-04-24 | 2021-03-26 | 广东工业大学 | Absolute encoder |
| CN114858192B (en) * | 2022-03-17 | 2023-04-07 | 哈尔滨理工大学 | double-Hall magnetoelectric encoder based on double-wheel structure and angle resolving method thereof |
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| CN1834587A (en) * | 2006-01-20 | 2006-09-20 | 安徽金海迪尔信息技术有限责任公司 | Absolute multi-coil magnetic encoder |
| CN201386126Y (en) * | 2008-11-20 | 2010-01-20 | 无锡五冶金属压延有限公司 | Vertical loop movable mill frame mechanism with displacement measuring device |
| CN102087121A (en) * | 2009-11-19 | 2011-06-08 | 山洋电气株式会社 | Magnetic absolute encoder |
| CN202281615U (en) * | 2011-10-22 | 2012-06-20 | 深圳众为兴技术股份有限公司 | High-precision absolute encoder |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60164213A (en) * | 1984-02-07 | 1985-08-27 | Victor Co Of Japan Ltd | Rotary encoder |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1834587A (en) * | 2006-01-20 | 2006-09-20 | 安徽金海迪尔信息技术有限责任公司 | Absolute multi-coil magnetic encoder |
| CN201386126Y (en) * | 2008-11-20 | 2010-01-20 | 无锡五冶金属压延有限公司 | Vertical loop movable mill frame mechanism with displacement measuring device |
| CN102087121A (en) * | 2009-11-19 | 2011-06-08 | 山洋电气株式会社 | Magnetic absolute encoder |
| CN202281615U (en) * | 2011-10-22 | 2012-06-20 | 深圳众为兴技术股份有限公司 | High-precision absolute encoder |
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| CN102506905A (en) | 2012-06-20 |
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