CN102607616A - Encoder, electromotor unit and actuator system - Google Patents
Encoder, electromotor unit and actuator system Download PDFInfo
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- CN102607616A CN102607616A CN2012100111306A CN201210011130A CN102607616A CN 102607616 A CN102607616 A CN 102607616A CN 2012100111306 A CN2012100111306 A CN 2012100111306A CN 201210011130 A CN201210011130 A CN 201210011130A CN 102607616 A CN102607616 A CN 102607616A
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- 230000003287 optical effect Effects 0.000 claims abstract description 63
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- 210000000056 organ Anatomy 0.000 claims description 16
- 238000012360 testing method Methods 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 11
- 230000007717 exclusion Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 2
- 238000009825 accumulation Methods 0.000 abstract description 5
- 230000007423 decrease Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 7
- 239000000758 substrate Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000004069 differentiation Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
An encoder (40) detects a rotation speed of a shaft (30) according to lights of each optical tracks (54),(64),(74) formed on a driving gear (50) and driven gears (60) (70) engaged with the driving gear (50). Accordingly, any driven gears (60) (70) is directly engaged with the driving gear (50), as a result, the decline of the reliability caused by accumulation of gear backlash can be avoided, and the encoder (40) and an electromotor unit (10) can be made miniaturize.
Description
Technical field
The present invention relates to a kind of scrambler, motor unit and actuator system.
Background technology
Use has a large amount of electric actuators in the advanced factory of automation development etc.The motor unit that is carried in these electric actuators comprises the rotating speed of the axle that detects motor or the scrambler of the anglec of rotation (absolute position).And, also use absolute type encoder in this scrambler mostly.Because absolute type encoder need not original point return action after energized, so can improve the running rate of shop equipment etc.
Absolute type encoder generally includes battery and storer.When the power supply that is supplied to absolute type encoder breaks off, through reserve battery will represent motor spool the value of rotating speed be saved in the storer.And, when being supplied to the power connection of absolute type encoder, from storer, read the value of expression rotating speed.The value of this expression rotating speed is added again the value of expression rotating speed.
Yet this absolute type encoder might produce the unfavorable condition that can't normally work because of the voltage drop of battery.Therefore, must change battery termly.In addition, when axle rotation when the power supply that is supplied to absolute type encoder breaks off, also might in rotating speed, produce error.Therefore, urgent hope need not from the absolute type encoder of battery supply power.
For said problem, in following patent documentation, disclose the absolute type encoder that does not use battery.
[background technology document]
[patent documentation]
The fair 5-38243 communique of [patent documentation 1] Japanese Patent Laid
[patent documentation 2] Japanese Patent Laid is opened the 2010-44055 communique
Summary of the invention
[inventing problem to be solved]
The scrambler of being put down in writing in the above-mentioned patent documentation comprises the driving gear that is used to detect the rotating speed of axle and rotates together with the axis; With the rotating speed that is used for retainer shaft and corresponding to the rotation of driving gear and the follower gear that rotates.And then, for the sensing range of the rotating speed that enlarges axle comprises a plurality of follower gears.A plurality of follower gears are cascade arrangements mutually with the mode of the revolving force that in series transmits driving gear.Therefore, must use high precision and expensive gear for the accumulation of the backlash that prevents gear.In addition, because of with a plurality of follower gear cascade arrangements, so scrambler is maximized.
The present invention In view of the foregoing accomplishes down, and its purpose is to provide a kind of scrambler, motor unit and actuator system of small-sized and low-cost, high reliability.
[technological means of dealing with problems]
For reaching said purpose, the present invention provides a kind of scrambler, detects the rotating speed of rotary body, and comprises:
Driving gear is disposed at the rotation center of said rotary body, and the track of pattern that is formed with the expression anglec of rotation is that the center forms ring-type with the turning axle;
At least 2 follower gears dispose with the mode with the engagement of said driving gear, and the track that is formed with the pattern of the expression anglec of rotation is that the center forms ring-type with the turning axle;
The modulation signal from said track detects in testing agency;
The absolute position arithmetical organ, according to signal from said testing agency, and represent said driving gear the anglec of rotation the absolute position and represent the computing of absolute position of the anglec of rotation of said follower gear; And
The rotating speed arithmetical organ according to the absolute position of said driving gear and the absolute position of said follower gear, carries out computing to the rotating speed of said rotary body.
The number of teeth numbering that said rotating speed arithmetical organ also can be given according to the tooth portion to said driving gear of calculating based on the absolute position of said driving gear, and the combination of the tooth portion to said follower gear of calculating based on the absolute position of the said follower gear number of teeth numbering of being given come the rotating speed of said rotary body is carried out computing.
Scrambler of the present invention also can comprise the correction arithmetical organ; Carry out with the thinner spacing of the number of teeth of more said driving gear confirm the absolute position of said driving gear correction, and confirm the correction of the absolute position of said follower gear with the thinner spacing of the number of teeth of more said follower gear, said rotating speed arithmetical organ also can be in the absolute position that makes the said driving gear of confirming according to the spacing thinner with the number of teeth of more said driving gear, and the engagement of the engagement of the said driving gear that determines of the absolute position of the said follower gear that thinner spacing is confirmed with the number of teeth of more said follower gear and said follower gear the rotating speed of said rotary body is carried out computing after consistent mutually.
The track that is formed at said driving gear and said follower gear comprises the optical rail of absolute scale; Its make respectively mutually different 2 reflector spaces of reflectivity according to PN (pseudo noise) sign indicating number sequence and with the turning axle be center configuration circlewise; Said absolute position arithmetical organ is according to the modulation signal from the optical rail of the detected said absolute scale of said testing agency, and computing is carried out in the absolute position of said driving gear and the absolute position of said follower gear.
The track that is formed at said driving gear and said follower gear can comprise the optical rail of increment scale; Its make respectively mutually different 2 reflector spaces of reflectivity with the turning axle be the center alternately uniformly-spaced being configured, said correction arithmetical organ carries out the correction of absolute position of absolute position and the said follower gear of said driving gear according to the modulation signal from the optical rail of the detected said increment scale of said testing agency.
Said testing agency can comprise a plurality of sensors that detect respectively from the light of the optical rail of said absolute scale; Said absolute position arithmetical organ is according to being selected from from the reflected light beyond the reflected light of the boundary vicinity of 2 reflector spaces in a plurality of reflected light of the optical rail of said absolute scale, and carries out the computing of absolute position of absolute position and the said follower gear of said driving gear.
But the relation of the number of teeth mutual exclusion of the number of teeth of said driving gear and said follower gear.
The diameter of said follower gear can be less than the diameter of said driving gear.
Motor unit of the present invention is characterised in that and comprises:
Rotary body;
Rotor is arranged on the said rotary body;
Stator, through and said rotor between electromagnetic interaction, and said rotary body is rotated with said rotor; And
Scrambler of the present invention detects the rotating speed of said rotary body.
Actuator system of the present invention is characterised in that and comprises:
Motor unit of the present invention; And
Control gear is controlled said motor unit.
[effect of invention]
According to the present invention, can according to from be formed at driving gear and with the modulation signal of each track of at least 2 follower gears of this driving gear engagement, and differentiate the rotating speed of rotary body.Therefore and since any follower gear all directly with the driving gear engagement, so can prevent to cause detection unfavorable condition to occur, and can make the device integral miniaturization by the accumulation of the backlash of gear etc.
Description of drawings
Fig. 1 is the stereographic map of the actuator of expression the 1st embodiment of the present invention;
Fig. 2 is the stereographic map of the motor unit that carried in the expression actuator shown in Figure 1;
Fig. 3 is the XY sectional view of the motor unit that carried in the expression actuator shown in Figure 1;
Fig. 4 is the sectional view of the cell encoder that carried in presentation graphs 2 and the motor unit shown in Figure 3;
Fig. 5 is the YZ sectional view of the cell encoder that carried in presentation graphs 2 and the motor unit shown in Figure 3;
Fig. 6 is the figure of the driving gear of expression pie graph 4 and cell encoder shown in Figure 5, and Fig. 6 (A) is the figure in the front of expression driving gear, and Fig. 6 (B) is the figure that the part in the front of driving gear is amplified expression;
Fig. 7 is the figure of the follower gear of expression pie graph 4 and cell encoder shown in Figure 5, and Fig. 7 (A) is the figure (one of which) in the front of expression follower gear, and Fig. 7 (B) is the figure (its two) in the front of expression follower gear;
Fig. 8 is the figure of the detecting unit of expression pie graph 4 and cell encoder shown in Figure 5, and Fig. 8 (A) is the figure in the front of expression detecting unit, and Fig. 8 (B) is the B-B sectional view of the detecting unit shown in Fig. 8 (A);
Fig. 9 is the block diagram that presentation graphs 2 and cell encoder shown in Figure 3 reach the controller that is connected with cell encoder;
Figure 10 is the figure of system of selection that is used to explain the sensor element of the absolute position arithmetical unit that constitutes detecting unit; Figure 10 (A) is detecting near the figure of the mode sensors configured element 0 ° in the phase place in 1 bit, and Figure 10 (B) is to detect near the figure of the mode sensors configured element 180 ° in the phase place in 1 bit;
Figure 11 is the figure of the corresponding relation of expression number of teeth numbering and rotating speed; With
Figure 12 is the block diagram of the variation of presentation code device unit.
[symbol description]
10 motor units
20 servomotors
21 shells
The 21a notch
The 21b installation portion
The 21c opening
The 21d opening
22 rotors
23 stators
The 24a bearing
The 24b bearing
30 (rotary body)
31 minor diameter parts
40 cell encoders (scrambler)
41 encoder substrates
42 casings
43 scrambler bases
44 bearings
46
47
The 46a minor diameter part
The 47a minor diameter part
50 driving gears
51 tooth portions
52 openings
53 optical rail (increment scale)
The 53a high reflectivity regions
The 54a high reflectivity regions
The 53b low reflectivity regions
The 54b low reflectivity regions
54 optical rail (absolute scale)
60 follower gears
61 tooth portions
62 openings
63 optical rail
64 optical rail
70 follower gears
71 tooth portions
72 openings
73 optical rail
74 optical rail
80 detecting units (testing agency)
81 detecting unit bodies
82 LED illuminating parts
83 fluorescence detectors
84 fluorescence detectors
85 phase place arithmetical unit
86 absolute position arithmetical unit
87 revise arithmetical unit
88 dispensers
90 detecting units (testing agency)
93 fluorescence detectors
94 fluorescence detectors
95 phase place arithmetical unit
96 absolute position arithmetical unit
97 revise arithmetical unit
100 detecting units (testing agency)
103 fluorescence detectors
104 fluorescence detectors
105 phase place arithmetical unit
106 absolute position arithmetical unit
107 revise arithmetical unit
110 rotating speed arithmetic elements
111 rotating speed arithmetical unit
120 output units
121 multiplexers
122 line drivers
200 actuators
201 slide blocks
202 cables
300 controllers
301 control parts
302 line receiver units
Embodiment
Below, the motor unit 10 of embodiment of the present invention is described.In addition, be easy understanding, set the frontal that the X axle is made as motor unit 10, the Y axle is made as vertical, the Z axle is made as the XYZ coordinate of side surface direction and suitably carries out reference.
As shown in Figure 1, motor unit 10 is installed in and comprises the inside that comes and goes the actuator 200 of the slide block 201 that moves along X-direction.In actuator 200 set inside ball-screw arranged, reach the fixedly spherical nut of slide block 201.The helical pitch of ball-screw is for example 10mm.The turning axle of this ball-screw and motor unit 10 links.And the revolving force of the turning axle through motor unit 10 makes ball-screw rotate with turning axle.
In addition, spherical nut moves along X-direction along with the rotation of ball-screw.Through moving of this spherical nut, slide block 201 moves along X-direction.One end of cable 202 is connected with actuator 200.The other end of cable 202 is connected with following controller.
As shown in Figure 2, motor unit 10 comprises: servomotor 20, the axle 30 through the axle rotation parallel with the X axle of servomotor 20 edges and be used to detect the anglec of rotation (absolute position) of axle 30 and the cell encoder 40 of rotating speed.
Take in the rotor 22 that is fixed on axle 30 outer peripheral face, the stator 23 that disposes with the mode of the periphery of surrounding rotor 22, and one group of bearing 24a, the 24b of back shaft 30 in the servomotor 20.
Stator 23 forms drum.Stator 23 has a plurality of utmost points with rotor 22 subtends along the circumference that with axle 30 is the center.A plurality of utmost points are divided into several groups.The coil of the utmost point that constitutes each group is connected in series together.
Bearing 24a, 24b support with axle 30 rotatable modes.Bearing 24a, 24b are to be the inside that coaxial mode is configured in shell 21 with opening 21c, 21d with respect to shell 21.Axle 30 is inserted into bearing 24a, 24b.
Fig. 4 and Fig. 5 are the sectional views of presentation code device unit 40.Fig. 4 is the IV-IV sectional view of Fig. 5.Like Fig. 4 and shown in Figure 5; Cell encoder 40 comprises: be fixed on the driving gear 50 of axle on 30, transmit the follower gear 60 of the rotation of driving gear 50; 70, be configured in driving gear 50-encoder substrate 41 of X side, through axle 46; 47 can support the scrambler base 43 of follower gear 60,70 rotations and the casing 42 of taking in these members.But axle 46,47 is installed as via bearing 44 relative coding device bases 43 and rotates.
Shown in Fig. 6 (A), driving gear 50 is to constitute as being formed with the spur gear of a plurality of tooth portion 51 in periphery.The quantity of tooth portion 51 is quantity arbitrarily.The periphery of the driving gear 50 of this embodiment is formed with 41 tooth portions 51.Each tooth portion 51 is given successively the number of teeth numbering of No.1 to No.41.Central portion at driving gear 50 is formed with circular opening 52.Through will be formed at axle 30-minor diameter part 31 of the end of X side is embedded in the opening 52, and driving gear 50 is fixed on the axle 30.Thus, driving gear 50 is with axle 30 rotations.
Driving gear 50-face of X side on, be the optical rail 53 that the center is formed with ring-type with the turning axle of driving gear 50.Shown in Fig. 6 (B), optical rail 53 is to dispose a plurality of mutually different 2 reflector spaces of fan-shaped reflectivity, i.e. high reflectivity regions 53a and low reflectivity regions 53b of forming alternately.Thus, constitute the increment scale.Optical rail 53 is to be roughly the mode of 80 μ m (spacing of high reflectivity regions 53a is roughly 40 μ m, and the spacing of low reflectivity regions 53b is roughly 40 μ m) and to form with spacing.
Driving gear 50-be formed with the optical rail 54 of diameter on the face of X side less than the ring-type of optical rail 53.Optical rail 54 is according to PN (pseudo noise (Pseudo Noise; Pseudo Random Noise (pseudo noise))) sign indicating number sequence and dispose and form mutually different 2 reflector spaces of fan-shaped reflectivity, i.e. high reflectivity regions 54a and low reflectivity regions 54b.Thus, constitute absolute scale.Optical rail 54 is consistent and corresponding mode of the angular interval with bit width and optical rail 53 and forming.
Shown in Fig. 7 (A), be formed with a plurality of tooth portion 61 that quantity is less than the tooth portion 51 of driving gear 50 on the follower gear 60.Follower gear 60 is to constitute less than the spur gear of driving gear 50 as diameter.The quantity of tooth portion 61 is for example 24.Each tooth portion 61 is given successively the number of teeth numbering of No.1 to No.24.These number of teeth numberings are that the edge is endowed with the giving direction in the opposite direction of number of teeth numbering of the tooth portion 51 of driving gear 50.The central portion of follower gear 60 has circular opening 62.Through will be formed at axle 46-the minor diameter part 46a of the end of X side is embedded in opening 62, and follower gear 60 is fixed on the axle 46.Thus, follower gear 60 is with axle 46 rotations.In addition, with driving gear 50 likewise, follower gear 60-be formed with on the face of X side as the increment scale and optical rail 63 that constitutes and the optical rail 64 that constitutes as absolute scale.
Shown in Fig. 7 (B), follower gear 70 comprises that quantity is less than a plurality of tooth portion 71 of the tooth portion 51 of driving gear 50.Follower gear 70 is to constitute less than the spur gear of driving gear 50 as diameter.The quantity of tooth portion 71 is for example 23.Each tooth portion 71 is given successively the number of teeth numbering of No.1 to No.23.These number of teeth numberings are that the edge is endowed with the giving direction in the opposite direction of number of teeth numbering of the tooth portion 51 of driving gear 50.The central portion of follower gear 70 has circular opening 72.Through will be formed at axle 47-the minor diameter part 47a of the end of X side is embedded in opening 72, and follower gear 70 is fixed on the axle 47.Thus, follower gear 70 is with axle 47 rotations.With driving gear 50 and follower gear 60 likewise, follower gear 70-be formed with on the face of X side the optical rail 73 that constitutes as the increment scale, with the optical rail 74 that constitutes as absolute scale.
The number of teeth (24) of the tooth portion 61 of the number of teeth of the tooth portion 51 of driving gear 50 (41), follower gear 60, and the number of teeth (23) of the tooth portion 71 of follower gear 70 be the relation of mutual exclusion.
As shown in Figure 5, encoder substrate 41 is rectangular parts.Encoder substrate 41 is fixed on the casing 42.Encoder substrate 41+face of X side on, be equipped with and be used to detect the absolute position (anglec of rotation) of axle 30 and the detecting unit 80,90,100 of rotating speed.3 detecting units the 80,90, the 100th are to install with the mode of driving gear 50, follower gear 60,70 subtends respectively.
Shown in Fig. 8 (A); Detecting unit 80 comprises: to LED (light emitting diode) illuminating part 82 of driving gear 50 irradiates lights, detect the optical rail 53 by driving gear 50; The fluorescence detector 83,84 of 54 light modulated that reflected and the detecting unit body 81 that supports these members.
Shown in Fig. 8 (B), LED illuminating part 82 is to be configured near the central portion of detecting unit body 81.Each optical rail 53,54 irradiates lights of 82 pairs of driving gears 50 of LED illuminating part., the light from 82 irradiations of LED illuminating part is reflected when being incident to high reflectivity regions 53a, 54a with high reflectance., the light from 82 irradiations of LED illuminating part perhaps is absorbed when being incident to low reflectivity regions 53b, 54b with antiradar reflectivity reflection or scattering.
As shown in Figure 9, detecting unit 80 also comprises phase place arithmetical unit 85, absolute position arithmetical unit 86, revises arithmetical unit 87, and these arithmetical unit of storage at the storage part of the information of the form that carries out the reference of computing time institute etc.These arithmetical unit are to constitute as the part of FPGA (field programmable gate array).
Optical rail 54 (absolute scale) has 1: 1 relation with the phase place of optical rail 53 (increment scale).Phase place arithmetical unit 85 uses from A phase signals, the B phase signals of fluorescence detector 83 outputs, and according to following formula (1) phase theta in 1 bit of optical rail 54 is carried out computing.
θ＝arc?tan
-1(V
A/V
B)……(1)
Here, V
ABe the output valve of the sine wave signal in the A phase signals, V
BOutput valve for the sine wave signal in the B phase signals.85 outputs and the corresponding signal of phase theta of phase place arithmetical unit.For example, be that if 1 bit is 80 μ m, then phase theta is equivalent to 10 μ m (=80 μ m * 45/360) under 45 ° the situation calculate phase theta in 1 bit according to A phase signals, B phase signals from fluorescence detector 83 output.
Absolute position arithmetical unit 86 is to be used for coming the absolute position Z to the bit base of optical rail 54 according to the signal from fluorescence detector 84 outputs
0Carry out computing.Absolute position Z
0The axle 30 in the expression bit base (roughly 80 μ m) and the anglec of rotation of driving gear 50.Below, to the absolute position Z of absolute position arithmetical unit 86
0Computing describe.
At first, absolute position arithmetical unit 86 only selects to detect the output of stable catoptrical sensor element from 512 CMOS image sensor elements of fluorescence detector 84.Specifically; Absolute position arithmetical unit 86 bases with from the corresponding signal of the phase theta of phase place arithmetical unit 85, and select to detect the output of the unsettled catoptrical sensor element sensor element in addition of the boundary vicinity between high reflectivity regions 54a and the low reflectivity regions 54b.
Figure 10 is the figure of the position relation of expression sensor element and optical rail.Reserve interval and the sensors configured element 84-2 of 120 ° in phase place with respect to sensor element 84-1, and reserve interval and the sensors configured element 84-3 of 120 ° in phase place with respect to sensor element 84-2.In Figure 10 (A), sensor element 84-1 is near the catoptrical position that is configured in 0 ° in the phase place that detects in 1 bit.In the case, sensor element 84-1 detects the reflected light at the boundary vicinity place between high reflectivity regions 54a and the low reflectivity regions 54b.Sensor element 84-2,84-3 are near the catoptrical position that is configured in the phase place that detects in 1 bit 180 ° (central authorities).Therefore, absolute position arithmetical unit 86 is selected the output of sensor element 84-2,84-3.In Figure 10 (B), sensor element 84-1,84-2 are near the catoptrical position that is configured in the phase place that detects in 1 bit 180 ° (central authorities).Sensor element 84-3 is near the catoptrical position that is configured in 360 ° in the phase place that detects in 1 bit.In the case, sensor element 84-3 detects the reflected light at the boundary vicinity place between high reflectivity regions 54a and the low reflectivity regions 54b.Therefore, absolute position arithmetical unit 86 is selected the output of sensor element 84-1,84-2.Through above narration, absolute position arithmetical unit 86 can select to detect the catoptrical sensor element output in addition, that detect stable catoptrical sensor element of the boundary vicinity between high reflectivity regions 54a and the low reflectivity regions 54b.
Below, absolute position arithmetical unit 86 is with reference to the combination and the absolute position Z of the output signal of the expression sensor element of being stored in the storage part
0The form of corresponding relation, according to the output signal of the sensor element of fluorescence detector 84 and to absolute position Z
0Carry out computing.Then, absolute position arithmetical unit 86 outputs and this absolute position Z
0Corresponding signal.
Be back to Fig. 9, revise arithmetical unit 87 through absolute position Z to arithmetical unit 86 outputs from the absolute position
0Add from the phase theta of phase place arithmetical unit 85 outputs, and resolution is higher than absolute position Z
0Absolute position Z carry out computing.Revise arithmetical unit 87 outputs and the corresponding signal of absolute position Z.For example,, then when 1 bit width is 80 μ m, calculate phase theta=10 μ m (=80 μ m * 45/360), so pass through to absolute position Z if the phase theta in 1 bit is 45 °
0Add phase theta=10 μ m, and can carry out computing the absolute position Z that resolution is higher than 1 bit.
Detecting unit 90 likewise comprises with detecting unit 80: to the optical rail 63 of follower gear 60; The LED illuminating part of 64 irradiates lights, detection are in optical rail 63; The fluorescence detector 93,94, phase place arithmetical unit 95, absolute position arithmetical unit 96 of the light modulated of 64 reflections, revise arithmetical unit 97, and the storage part of the information of table etc.Phase place arithmetical unit 95, absolute position arithmetical unit 96 and revise arithmetical unit 97 and constitute as the part of FPGA.
The LED illuminating part is to each optical rail 63,64 irradiates lights of follower gear 60.When the light from LED illuminating part irradiation is incident to high reflectivity regions 63a, 64a, be reflected with high reflectance, when the light from the irradiation of LED illuminating part is incident to low reflectivity regions 63b, 64b with antiradar reflectivity reflection or scattering or be absorbed.
The light of 2 systems of optical rail 63 (increment scale) reflection of fluorescence detector 93 detection follower gears 60.When the spacing with optical rail 63 was made as 360 °, the phase differential of the light of 2 systems was 90 ° (1/4 spacings).A phase signals, the B phase signals of corresponding 2 systems of catoptrical intensity of 2 systems that fluorescence detector 93 is exported and detected.Fluorescence detector 93 is made up of for example 2 photodiodes.
Phase place arithmetical unit 95 is according to A phase signals, B phase signals from fluorescence detector 93 outputs, and according to formula (1) phase place in 1 bit of optical rail 64 carried out computing.95 outputs and the corresponding signal of phase place of phase place arithmetical unit.
Absolute position arithmetical unit 96 is according to the signal from fluorescence detector 94 outputs, to the absolute position α of the bit base of optical rail 64
0Carry out computing.Absolute position α
0The anglec of rotation of the follower gear 60 in the expression bit base.Absolute position arithmetical unit 96 is for example with reference to voltage signal and the absolute position α of the expression of being stored in the storage part from fluorescence detector 94
0The form of corresponding relation, and to absolute position α
0Carry out computing.96 outputs and absolute position α of absolute position arithmetical unit
0Corresponding signal.
Revise arithmetical unit 97 through absolute position α to arithmetical unit 96 outputs from the absolute position
0Add from the phase place of phase place arithmetical unit 95 outputs, and resolution is higher than absolute position α
0Absolute position α carry out computing.Revise arithmetical unit 97 outputs and the corresponding signal of absolute position α.
Detecting unit 100 likewise comprises with detecting unit 80,90: to the optical rail 73 of follower gear 70; The LED illuminating part of 74 irradiates lights, detection are in optical rail 73; The fluorescence detector 103,104, phase place arithmetical unit 105, absolute position arithmetical unit 106 of the light modulated of 74 reflections, and revise arithmetical unit 107.Absolute position arithmetical unit 106 is according to from the signal of fluorescence detector 104 outputs and to the absolute position β of the bit base of optical rail 74
0Carry out computing.Absolute position β
0The anglec of rotation of the follower gear 70 in the expression bit base.Revise arithmetical unit 107 through absolute position β to arithmetical unit 106 outputs from the absolute position
0Add from the phase place of phase place arithmetical unit 105 outputs, and resolution is higher than absolute position β
0Absolute position β carry out computing.Revise arithmetical unit 107 outputs and the corresponding signal of this absolute position β.
As shown in Figure 9, cell encoder 40 also comprises rotating speed arithmetic element 110, output unit 120 except that comprising detecting unit 80,90,100.
Rotating speed arithmetic element 110 comprises rotating speed arithmetical unit 111, and the storage part of storage representation number of teeth numbering and the information such as form T of the corresponding relation of rotating speed R.Rotating speed arithmetical unit 111 is according to the absolute position of driving gear 50 and the absolute position of follower gear 60,70, and the rotating speed of axle 30 is carried out computing.At first, rotating speed arithmetical unit 111 bases with from the corresponding signal of absolute position Z, α, β of revising arithmetical unit 87,97,107, differentiate be positioned at driving gear 50, follower gear 60,70 separately-number of teeth numbering of the tooth portion 51,61,71 of Y side.Then, rotating speed arithmetical unit 111 is confirmed the absolute position Z of driving gear 50 with the spacing thinner than the number of teeth of driving gear 50.And then rotating speed arithmetical unit 111 switches to the timing that the next number of teeth is numbered according to the number of teeth numbering that absolute position Z differentiates driving gear 50.And then, rotating speed arithmetical unit 111 according to this regularly so that the consistent mode of engagement of the engagement of driving gear 50 and follower gear 60,70, the number of teeth of switching each follower gear 60,70 is numbered.
Then, rotating speed arithmetical unit 111 is with reference to form T, the engagement that makes driving gear 50 and the engagement of follower gear 60,70 mutual consistent after, come the rotating speed R of axle 30 is carried out computing according to the combination of these numbers of teeth numberings.111 outputs and the corresponding signal of rotating speed R of rotating speed arithmetical unit.
The concrete example of expression form T in Figure 11.Form T is the example when the number of teeth of driving gear 50, follower gear 60,70 is respectively 5,4,3.In form T shown in Figure 11, the 1st tabulation of the leftmost side show be positioned at driving gear 50, follower gear 60,70 separately-combination number of the number of teeth numbering of the tooth portion 51,61,71 of Y side.The 2nd tabulation on the right side of the 1st row show be positioned at driving gear 50-number of teeth numbering of the tooth portion 51 of Y side.Likewise, the 3rd row, the 4th tabulation show be positioned at follower gear 60-number of teeth numbering of the tooth portion 61 of Y side, be positioned at follower gear 70-number of teeth numbering of the tooth portion 71 of Y side.The rotating speed R of axle 30 (driving gears 50) is shown in the 5th tabulation of the rightmost side of form T.
Can know the ading up to of the combination of driving gear 50, follower gear 60,70 number of teeth numbering separately 60 kinds (60=5 * 4 * 3) with reference to Figure 11.For example, when separately number of teeth numbering be combined as (No.1, No.2, No.3) time, combination number is No.006.In the case, rotating speed arithmetical unit 111 is through with reference to form T and the rotating speed R=1 of computing shaft 30 (driving gear 50).In addition, when separately number of teeth numbering be combined as (No.1, No.2, No.2) time, combination number is No.026.In the case, rotating speed arithmetical unit 111 is through with reference to form T and the rotating speed R=5 of computing shaft 30 (driving gear 50).
Yet; In the said example; When the number of teeth that is numbered No.1, follower gear 60 expressions in the number of teeth of driving gear 50 expression is numbered No.1; The number of teeth of follower gear 70 expression is numbered under the situation of No.3 or No.2, even if having under the condition of different in number of teeth numbering, rotating speed arithmetical unit 111 for example calculates that rotating speed is the bigger rotating speed R of difference of R=1 or R=5.Therefore, change, and when making the follower gear 70 that should represent number of teeth numbering No.2 originally be expressed as number of teeth numbering No.3, rotating speed arithmetical unit 111 also can the incorrect rotating speed R of computing when the backlash by gear causes the gear meshing state.
Because the follower gear of this embodiment 60,70 meshes with driving gear 50 respectively, so all gear meshing states (switching timing of number of teeth numbering) are identical.Yet, might cause gear engagement each other different because of the backlash of gear.Therefore, the rotating speed arithmetical unit 111 of this embodiment detect and judge driving gear 50, follower gear 60,70 number of teeth numbering separately be will switch before, just switched or be from switching the back between switching next time.And; Under the mutual condition of different of these engagements; Rotating speed arithmetical unit 111 makes the engagement (switching timing of number of teeth numbering) of each follower gear 60,70 consistent with the engagement (switching timing of number of teeth numbering) of driving gear 50, and makes all gear meshing states identical.For example; Switching timing in that the number of teeth of driving gear 50 is numbered is numbered for just switching the number of teeth; The switching timing of the number of teeth numbering of follower gear 60,70 will be for switching under the preceding situation of number of teeth numbering; Rotating speed arithmetical unit 111 makes the switching timing of number of teeth numbering of follower gear 60,70 consistent with the switching timing of the number of teeth numbering of driving gear 50, be made as firm switched the number of teeth and numbered after.
As stated, the resolution of the absolute position Z that exports from detecting unit 80,90,100, α, β is compared enough thin with the tooth portion 61 of the tooth portion 51 of driving gear 50, follower gear 60, the tooth portion 71 of follower gear 70.Therefore, for example, rotating speed arithmetical unit 111 for each tooth portion 51,61,71 be divided into 3 timings (will switch preceding, just switch the back, from firm switchings back to next time between the switching) and detect.And rotating speed arithmetical unit 111 switches to the engagement identical with driving gear 50 with the engagement of follower gear 60,70.
Rotating speed arithmetical unit 111 is with reference to form T, and according to the combination of these numbers of teeth numberings the rotating speed R of axle 30 carried out computing.Yet operational method is an arbitrary method.For example, in this embodiment, the combination of number of teeth numbering be numbered fixing round values, the number of teeth of each gear (driving gear 50, follower gear 60,70) is numbered known value, the rotating speed of each gear be the value (parameter) of the unknown.Therefore, the simple equation that is made up of 3 parameters can be 3.Rotating speed arithmetical unit 111 also can come rotating speed R is carried out computing according to these equations.
In addition, in this embodiment, the ading up to of the combination of driving gear 50, follower gear 60,70 number of teeth numbering separately 22,632 kinds (22,632=41 * 24 * 23).The differentiation upper limit of cell encoder 40 can be 552 circles (552=22,632/41).Therefore, because the helical pitch of the ball-screw of actuator 200 is 10mm as stated, so can differentiate 5, the position of the slide block 201 in the scope of the stroke of 520mm (5,520=552 * 10).
As shown in Figure 9, output unit 120 comprises multiplexer 121 and the line driver 122 that switches 2 groups of signals ({ A, B} with { Z, R}).
As shown in Figure 9, controller 300 is connected in the motor unit 10 that comprises above-mentioned cell encoder 40.Controller 300 comprises line receiver unit 302 and control part 301.
With reference to Fig. 9 to as the action of the motor unit 10 of above-mentioned formation describe.
If will comprise the power connection of the actuator system of motor unit 10, controller 300 etc., then the detecting unit 80 of cell encoder 40 is according to the reflected light from the optical rail 54 (absolute scale) of driving gear 50, and to the absolute position Z of driving gear 50
0Carry out computing.In addition, detecting unit 80 is according to from the reflected light of optical rail 53 (increment scale) phase theta in 1 bit of optical rail 54 being carried out computing.Detecting unit 80 is according to these absolute positions Z
0And phase theta, and to resolution than absolute position Z
0High absolute position Z carries out computing.Detecting unit 80 will export rotating speed arithmetic element 110 and output unit 120 to the corresponding signal of absolute position Z.
Detecting unit 90,100 and detecting unit 80 likewise, according to reflected light, and the absolute position α of output follower gear 60,70 from the optical rail 64,74 (absolute scales) of follower gear 60,70
0, β
0Detecting unit 90,100 is according to from the reflected light of optical rail 63,73 (increment scale) phase place in 1 bit of the optical rail 64,74 of follower gear 60,70 being carried out computing.Detecting unit 90,100 is according to absolute position α
0, β
0And phase place, and to resolution than absolute position α
0, β
0High absolute position α, β carry out computing.Detecting unit 90,100 will export rotating speed arithmetic element 110 to absolute position α, the corresponding signal of β.
Rotating speed arithmetic element 110 bases and the corresponding signal of absolute position Z, α, β from detecting unit 80,90,100; And driving gear 50, follower gear 60,70 number of teeth numbering is separately carried out computing, and come the rotating speed R of axle 30 is carried out computing according to these combinations.Rotating speed arithmetic element 110 will export output unit 120 to the corresponding signal of rotating speed R.
If storage absolute position Z, rotating speed R, then controller 300 makes electric current flow through the coil of the stator 23 of servomotor 20.And, switch the coil that flows through electric current.Thus, make coil magnetization and between stator 23 and rotor 22, produce repulsion or gravitation.Its result, axle 30 is with stator 23 rotations.
If axle 30 is rotated, then driving gear 50 is with axle 30 rotations.In addition, through meshing with driving gear 50, follower gear 60 and follower gear 70 also the edge sense of rotation opposite with the sense of rotation of driving gear 50 are rotated.
When the rotational speed of axle 30 at the uniform velocity the time, from the light of LED illuminating part 82 irradiations of detecting unit 80 through optical rail 53 (increment scale) while and its reflection strength is increased and decreased reflect.Detecting unit 80 will with export controller 300 to by corresponding A phase signals of 53 intensity of light reflected of optical rail and B phase signals.The value of A phase signals is that every process cycle T just becomes low level from high level.The B phase signals shifts to an earlier date the T/4 cycle with respect to the A phase signals, and every process cycle T just becomes low level from high level.Thus, only to differ 2 signals in 1/4 cycle each other be A phase signals and B phase signals to detecting unit 80 output phases.
In addition, on the other hand, even if under the situation of carrying out set initial value replacement means, controller 300 is also stored the absolute position Z of axle 30, the initial value of rotating speed R.The incremented/decremented counting is carried out in the pulse of 300 pairs of A phase signals of controller and B phase signals.Controller 300 is obtained the absolute position Z of the axle 30 of rotation, the currency of rotating speed R through this counting.Controller 300 is controlled servomotor 20 according to the currency of these absolute positions Z, rotating speed R.
As above illustrated as, the cell encoder of this embodiment 40 detects from being formed at driving gear 50, and the light of each optical rail 53,54,63,64,73,74 of the follower gear 60 that meshes with driving gear 50 and follower gear 70.Thus, cell encoder 40 is differentiated the absolute position Z (anglec of rotation) of the rotating speed R of axle 30.Therefore, because any follower gear 60,70 all directly meshes with driving gear 50, thus can prevent the erroneous detection that caused by the accumulation of the backlash of gear etc., and can make miniaturization such as cell encoder 40.
In addition; Because make all follower gears be directly connected in driving gear; And be not that a plurality of follower gears are connected in series together, so compare, there is not the accumulation of the backlash of gear with the existing cell encoder that a plurality of subordinate gears are connected in series together.Therefore, compare with the gear of the existing cell encoder of the rotating speed sensing range with same degree, the gear of cell encoder 40 need not that kind critically form.Its result can reduce manufacturing cost.
In addition, because can only detect rotating speed R, so can need not battery and storer with driving gear 50 and 2 follower gears 60,70.
In addition, in this embodiment, the absolute position Z that rotating speed arithmetical unit 111 is thinner than the number of teeth of driving gear 50 according to resolution, and the number of teeth numbering of differentiation driving gear 50 switches to the timing of next number of teeth numbering.Rotating speed arithmetical unit 111 regularly switches follower gear 60,70 number of teeth numbering separately according to this.Thus,, also can make all gear meshing state consistencies of driving gear 50, follower gear 60,70 even if use the bigger gear of backlash, thus there is not the situation of number of teeth numbering read error, thus can obtain high reliability.
In addition, in this embodiment, because follower gear 60 and follower gear 70 direct and driving gear 50 engagements, so can make the number of gear considerably less, and can make thickness (size that the X axle side increases progressively) attenuation of cell encoder 40.Thus, can help to realize the miniaturization of motor unit 10.
In addition, the cell encoder 40 of this embodiment is with the LED illuminating part of LED illuminating part 82, detecting unit 90,100, reaches the scrambler that fluorescence detector 83,84,93,94,103,104 is installed in the catoptrics formula on the same encoder substrate 41.Therefore, can make the thickness attenuation of cell encoder 40.Thus, can help to realize the miniaturization and the cost degradation of motor unit 10.
In addition, in this embodiment, the driving gear 50 that is used to export A phase signals and B phase signals is to form greater than the mode of follower gear 60,70 with its diameter.Only be used for the number of teeth is numbered the follower gear the 60, the 70th that carries out computing, form less than the mode of driving gear 50 with its diameter.Thus, can form essential high-resolution optical rail 53,54 with big diameter, and the size (size of Y direction and Z-direction) of cell encoder 40 is dwindled.Thus, can help to realize the miniaturization of motor unit 10.
In addition, in this embodiment, absolute position arithmetical unit 86 only selects to detect the output of stable catoptrical sensor element from 512 CMOS image sensor elements of fluorescence detector 84.Thus, but the absolute position Z of computing high reliability.
More than, embodiment of the present invention is illustrated, but the present invention does not receive the qualification of said embodiment etc.
In said embodiment, cell encoder 40 comprises 2 follower gears 60,70, but also can comprise 3 follower gears.For example, be under 25 the situation of the 3rd follower gear being added with the number of teeth, the combination of number of teeth numbering separately add up to 565; 800 kinds (565,800=41 * 24 * 23 * 25), the differentiation upper limit of cell encoder 40 can be 13; 800 circles (13,800=565,800/41).Therefore, can differentiate the position of the slide block 201 in the scope of stroke of 138m (138,000=13,800 * 10).In addition, also can comprise follower gear more than 4.
In addition, in the above-described embodiment, the number of teeth (23) of the number of teeth (24) of the tooth portion 61 of the number of teeth of the tooth portion 51 of driving gear 50 (41), follower gear 60, the tooth portion 71 of follower gear 70 is to form with the mode of the relation that becomes mutual exclusion.Yet, being not limited thereto, the number of teeth separately also can not be the relation of mutual exclusion.But, and the situation of non-exclusive relation under, the like combinations meeting of the number of teeth numbering under the same rotational speed increases, and corresponding conversion table becomes big, so the relation of mutual exclusion preferably.
In addition, in this embodiment, under the situation with the power connection of actuator system, and under the situation of carrying out initial value replacement means, controller 300 stores the absolute position Z of axle 30, the initial value of rotating speed R.The pulse of 300 pairs of A phase signals of controller or B phase signals is counted, and obtains the absolute position Z of the axle 30 of rotation, the currency of rotating speed R through this counting.Yet, be not limited thereto, also can whenever just store the absolute position Z of axle 30, the initial value of rotating speed R at a distance from the set time.In addition, also can store the absolute position Z of axle 30, the initial value of rotating speed R all the time.
In addition, in this embodiment, will with the corresponding signal of absolute position Z and with the corresponding signal of rotating speed R integrate gained signal, and A phase signals and B phase signals integrate the signal of gained as parallel signal and output from line driver 122.Yet, be not limited thereto, also can be used as serial signal and export.
In addition, as shown in Figure 9, the detecting unit 80 of above-mentioned embodiment will directly export output unit 120 to from A phase signals, the B phase signals of fluorescence detector 83.Yet, be not limited thereto, shown in figure 12, also configurable dispenser 88 (interpolator), and this dispenser 88 of process exports A phase signals, B phase signals to output unit 120.In the case, the resolution of A phase signals, B phase signals is improved.
In addition, in this embodiment, absolute position arithmetical unit 86,96,106 is with reference to the combination and the absolute position Z of the output signal of the sensor element of being stored in the expression storage part
0, α
0, β
0The form of corresponding relation, and according to the output signal of the selected sensor element of fluorescence detector 84,94,104 and to absolute position Z
0, α
0, β
0Carry out computing.Yet, be not limited thereto, also can use shift register (LFSR (linear feedback shift register)) to come to absolute position Z
0, α
0, β
0Carry out computing.
In addition, in this embodiment, using has servomotor 20, but also can replace servomotor 20 certainly and the use pulse motor.
In addition, in this embodiment, using has the detection method of optical profile type, but utilizes electrostatic capacitive or magnetic-type etc. also can constitute identical functions certainly.
The present invention can implement various embodiments and distortion under the prerequisite of spirit that does not break away from broad sense of the present invention and scope.Said embodiment is non-limiting scope of the present invention in order to explanation the present invention.
Claims (10)
1. scrambler detects the rotating speed of rotary body, it is characterized in that, comprising:
Driving gear is disposed at the rotation center of said rotary body, and the track of pattern that is formed with the expression anglec of rotation is that the center forms ring-type with the turning axle;
At least 2 follower gears dispose with the mode with the engagement of said driving gear, and the track that is formed with the pattern of the expression anglec of rotation is that the center forms ring-type with the turning axle;
The modulation signal from said track detects in testing agency;
The absolute position arithmetical organ, according to signal from said testing agency, and represent said driving gear the anglec of rotation the absolute position and represent the computing of absolute position of the anglec of rotation of said follower gear; And
The rotating speed arithmetical organ according to the absolute position of said driving gear and the absolute position of said follower gear, carries out computing to the rotating speed of said rotary body.
2. scrambler according to claim 1 is characterized in that:
The number of teeth numbering that said rotating speed arithmetical organ is given according to the tooth portion of the said driving gear of calculating based on the absolute position of said driving gear, and the combination of the tooth portion of the said follower gear of calculating based on the absolute position of the said follower gear number of teeth numbering of being given come the rotating speed of said rotary body is carried out computing.
3. scrambler according to claim 2 is characterized in that:
Comprise the correction arithmetical organ, carry out with the thinner spacing of the number of teeth of more said driving gear confirm the absolute position of said driving gear correction, and confirm the correction of the absolute position of said follower gear with the thinner spacing of the number of teeth of more said follower gear,
Said rotating speed arithmetical organ the absolute position that makes the said driving gear confirmed according to the spacing thinner with the number of teeth of more said driving gear, and the engagement of the said driving gear that determines of the absolute position of the said follower gear that thinner spacing is confirmed with the number of teeth of more said follower gear and the engagement of said follower gear mutual consistent after, the rotating speed of said rotary body is carried out computing.
4. according to each described scrambler in the claim 1 to 3, it is characterized in that:
The track that is formed at said driving gear and said follower gear comprises the optical rail of absolute scale, its make respectively mutually different 2 reflector spaces of reflectivity according to PN (pseudo noise) sign indicating number sequence and with the turning axle be center configuration circlewise,
Said absolute position arithmetical organ basis is carried out computing from the modulation signal of the optical rail of the detected said absolute scale of said testing agency to the absolute position of said driving gear and the absolute position of said follower gear.
5. scrambler according to claim 3 is characterized in that:
The track that is formed at said driving gear and said follower gear comprises the optical rail of increment scale, its make respectively mutually different 2 reflector spaces of reflectivity with the turning axle be the center alternately uniformly-spaced being configured,
Said correction arithmetical organ is according to the modulation signal from the optical rail of the detected said increment scale of said testing agency, carries out the correction of absolute position of absolute position and the said follower gear of said driving gear.
6. scrambler according to claim 4 is characterized in that:
Said testing agency comprises a plurality of sensors that detect respectively from the light of the optical rail of said absolute scale,
Said absolute position arithmetical organ is according to being selected from from the reflected light beyond the reflected light of the boundary vicinity of 2 reflector spaces in a plurality of reflected light of the optical rail of said absolute scale, and carries out the computing of absolute position of absolute position and the said follower gear of said driving gear.
7. according to each described scrambler in the claim 1 to 6, it is characterized in that:
The number of teeth of said driving gear and the number of teeth of said follower gear are the relation of mutual exclusion.
8. according to each described scrambler in the claim 1 to 7, it is characterized in that:
The diameter of said follower gear is less than the diameter of said driving gear.
9. a motor unit is characterized in that, comprising:
Rotary body;
Rotor is arranged on the said rotary body;
Stator rotates said rotary body and said rotor through the electromagnetic interaction between said rotor; And
According to each described scrambler in the claim 1 to 8, detect the rotating speed of said rotary body.
10. an actuator system is characterized in that, comprising:
Motor unit according to claim 9; And
Control gear is controlled said motor unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-005439 | 2011-01-14 | ||
| JP2011005439A JP5671353B2 (en) | 2011-01-14 | 2011-01-14 | Encoder, motor unit, and actuator system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102607616A true CN102607616A (en) | 2012-07-25 |
Family
ID=46525207
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100111306A Pending CN102607616A (en) | 2011-01-14 | 2012-01-13 | Encoder, electromotor unit and actuator system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5671353B2 (en) |
| KR (1) | KR20150127755A (en) |
| CN (1) | CN102607616A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104641200A (en) * | 2012-09-21 | 2015-05-20 | 伊顿公司 | Pseudo-absolute position sensing algorithm |
| TWI634042B (en) * | 2014-10-07 | 2018-09-01 | 島野股份有限公司 | Bicycle shifting control apparatus |
| CN112600361A (en) * | 2020-12-17 | 2021-04-02 | 李宏双 | Mechanical synchronous motor positioning structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014115234A (en) * | 2012-12-12 | 2014-06-26 | Iai Corp | Mechanical absolute unit, mechanical absolute encoder, and actuator |
| CN103644864B (en) * | 2013-12-17 | 2017-05-03 | 广东工业大学 | Machinery device for improving resolution of angle encoder and measurement precision |
| JP2019203772A (en) * | 2018-05-23 | 2019-11-28 | ファナック株式会社 | Multi-rotational absolute rotational angle detector and gear |
| KR102133714B1 (en) * | 2018-12-26 | 2020-07-14 | (주) 비비비 | Method and apparatus of controlling the travel distance by gears |
| CN109737994A (en) * | 2019-01-07 | 2019-05-10 | 上海自动化仪表有限公司 | The multiple circles absolute value encoder and measurement method of MODBUS-RTU |
| KR102432926B1 (en) | 2020-12-08 | 2022-08-18 | 현대무벡스 주식회사 | Encoder motor |
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| JPS5760210A (en) * | 1980-08-14 | 1982-04-12 | Rihita Hansu | Angular sign plate apparatus |
| CN1571916A (en) * | 2001-10-19 | 2005-01-26 | 株式会社安川电机 | Multirotation type encoder |
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| TWI634042B (en) * | 2014-10-07 | 2018-09-01 | 島野股份有限公司 | Bicycle shifting control apparatus |
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| CN112600361A (en) * | 2020-12-17 | 2021-04-02 | 李宏双 | Mechanical synchronous motor positioning structure |
| CN112600361B (en) * | 2020-12-17 | 2024-03-12 | 李宏双 | Mechanical synchronous motor positioning structure |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012145518A (en) | 2012-08-02 |
| JP5671353B2 (en) | 2015-02-18 |
| KR20150127755A (en) | 2015-11-18 |
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Application publication date: 20120725 |