CN102998478B - Capacitive rotary encoder allowing axial movement of transmission shaft - Google Patents
Capacitive rotary encoder allowing axial movement of transmission shaft Download PDFInfo
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- CN102998478B CN102998478B CN201210570643.0A CN201210570643A CN102998478B CN 102998478 B CN102998478 B CN 102998478B CN 201210570643 A CN201210570643 A CN 201210570643A CN 102998478 B CN102998478 B CN 102998478B
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Abstract
The invention relates to the technical field of encoders, in particular to a capacitive rotary encoder allowing axial movement of a transmission shaft. The capacitive rotary encoder allowing axial movement of the transmission shaft comprises a fixed grid, a moving grid and an inner cylinder and an outer cylinder which are coaxial. The inner cylinder is fixed on the transmission shaft and coaxially rotates together with the transmission shaft, and the outer cylinder is fixedly arranged. The moving grid is arranged on the outer surface of the inner cylinder, the fixed grid is arranged on the inner surface of the outer cylinder, a certain air gap is reserved between the fixed grid and the moving grid, and the length of an exciting electrode strip arranged on the fixed grid is larger than the peak height of the sinusoidal waveform of an induction electrode strip arranged on the moving grid. When the inner cylinder and the outer cylinder move in the axial direction, the exciting electrode strip arranged on the fixed grid totally covers the induction electrode strip arranged on the moving grid so that signals are kept from influence of axial movement of the transmission shaft. According to the capacitive rotary encoder, a charge secondary reflection method is adopted, the modulation signals induced by the induction electrode strip arranged on the moving grid are reflected onto a receiving electrode strip arranged on the fixed grid, and therefore a power supply is not needed to be guided onto the moving grid, the structure is simplified, and product stability and service life are improved.
Description
Technical field
The present invention relates to encoder techniques field, particularly a kind of condenser type rotary encoder that allows transmission shaft axial float.
Background technology
Rotary encoder is the device for measuring rotating speed, the mechanical quantity such as angular displacement, angular velocity of output shaft can be converted to the scrambler of corresponding electric pulse or digital quantity.
Traditional rotary encoder is to be all generally fixedly mounted on the motor shaft of motor at present.Because motor shaft in motor movement process not only produces diameter run-out, also can produce axial float, expand with heat and contract with cold in addition and also can cause the variation of motor shaft axial length.And the axial play of motor shaft can cause the decline of scrambler measuring accuracy, even can affect the serviceable life of scrambler.Taking photoelectric rotary coder as example, photoelectric rotary coder is generally made up of photoelectric code disk and light-sensitive detector; In practical application, the distance of photoelectric code disk and light-sensitive detector is very little, conventionally the order of magnitude below millimeter.Photoelectric code disk is fixedly connected with motor shaft, light-sensitive detector and casing are fixed, because the axial float of motor shaft can cause the variation of distance between photoelectric code disk and photodetector, so require axial float can only float within the scope of setting, the variation that exceeds setting not only can make signal quality and the precise decreasing of scrambler, and can shorten the serviceable life of scrambler owing to rubbing, when serious, can cause the damage of scrambler axle system and photoelectric code disk.
Impact scrambler being caused for solving above-mentioned motor shaft play, the patent No. is that the Chinese utility model patent of CN201020619546.2 has proposed a kind of buffer structure of encoder, its structure and principle are as follows: scrambler is arranged on the extension shaft of motor, the end face of scrambler is connected by screw on web joint, in the attachment screw hole of described web joint, be provided with spring, screw is connected with web joint through spring, ensures that scrambler has elasticity with being connected of web joint.Described web joint is fixed by screws on motor end face, and the fixing screw hole on described screw and web joint is directly fixing.By the buffer structure of above-mentioned design, when can ensureing the extension shaft axial float of motor, scrambler, along with extension shaft carries out axial float together, plays the effect that elasticity connects.But adopt above-mentioned be flexible coupling or mode that spring connects can to cause scrambler to be measured inaccurate, there is the error of hysteresis the moment that starts rotation at motor, there is leading error the moment stopping at motor.
The method that the principle of utilization measurement electric capacity is obtained displacement has just been suggested decades ago.The patent No. is U.S.3,938,113 United States Patent (USP) discloses a kind of scrambler of measuring electric capacity perception displacement that adopts, its structure and principle are as follows: on scale, made the electrode transmitting, on read head, measure via capacity coupled signal, or electrode on read head transmits, the electrode measurement on scale is via capacity coupled signal, by the deciphering of certain way, read head just can provide relative shift.Incremental displacement is measured need make uniform scale on scale, and these scales are always realized with the strip shaped electric poles of evenly distributed conduction.Because the requirement of scale homogeneity, these strip shaped electric poles must be same sizes, same shape and same electric conductivity, and only in this way, thereby the information that read head obtains is not just subject to the impact of electrode heterogencity to calculate exactly relative shift.This capacitive technologies both can be used for the measurement of linear displacement, also can be used for the measurement of the anglec of rotation.
Condenser type rotary encoder divides moving grid and quiet grid two parts, is all precision machined printed circuit board (PCB).As shown in Figure 1, on moving grid, there are emitting electrode 61 and receiving electrode 62, between emitting electrode 61 and receiving electrode 62, have screening electrode 63, avoid emitting electrode 61 to the direct capacitance coupling between receiving electrode 62.As shown in Figure 2, have repeller 71 and screening electrode 72 on quiet grid, repeller 71 is consistent with the width of screening electrode 72, and screening electrode 72 needs reliable ground.In the structural drawing of condenser type rotary encoder as depicted in figs. 1 and 2, on moving grid, have 48 emitting electrodes
61, it is variable that the pole span of emitting electrode 61 is pressed actual requirement, and every 4 emitting electrodes 61 are corresponding to a reflecting electrode.On moving grid, every 8 emitting electrodes 61 are one group, totally 6 groups.Every group of emitting electrode 61 is numbered to A to be connected to emitting electrode 61 circuit of the same numbering of H.When operation, the grid face parallel coaxial of two printed circuit board is relative, and spacing is in 0.1mm left and right.
But above-mentioned this condenser type rotary encoder, requires the grid face of two printed circuit board parallel when operation, the center of circle of circular pattern requires as concentric circles, and coaxial with motor shaft or other driving shafts.Air gap between two parallel circuit boards requires strict, and reason is in the time that air gap is excessive, signal strength weakening, and signal to noise ratio (S/N ratio) declines, and directly affects the output accuracy of scrambler; In the time that air gap is too small, signal intensity is excessive, exceedes range, makes scrambler cannot obtain correct signal, and when serious, these two circuit boards also can rub, and causes losing efficacy or destroying.Therefore condenser type rotary encoder does not still solve the problem that motor shaft axial float causes encoder performance to decline, lost efficacy and even destroy.
Summary of the invention
The present invention is arranged on motor shaft in order to solve current existing rotary encoder, the rotary encoder hydraulic performance decline causing due to the axial float of motor shaft, the even destroyed problem that lost efficacy, and a kind of condenser type rotary encoder that allows transmission shaft axial float providing.
For reaching above-mentioned functions, technical scheme provided by the invention is:
A kind of condenser type rotary encoder that allows transmission shaft axial float, comprise quiet grid and moving grid, described condenser type rotary encoder also comprises coaxial inner cylinder and out cylinder, described inner cylinder be fixed on transmission shaft and with described transmission shaft coaxial rotation, described out cylinder is fixedly installed; Described moving grid is arranged on the outside surface of described inner cylinder, and described quiet grid are arranged on the inside surface of described out cylinder, between described quiet grid and described moving grid, has certain air gap.
Preferably, described quiet grid comprise the exciting electrode bar that some strips are identical, described moving grid comprises more than one induction electrode bar, the length of described induction electrode bar is greater than the length of described exciting electrode bar, to ensure that described induction electrode bar covers described exciting electrode bar completely when the described transmission shaft generation play.
Preferably, described quiet grid also comprise the receiving electrode bar of one or more.
Preferably, the quantity of described receiving electrode bar is two, and two described receiving electrode bars are parallel to each other and vertical with described exciting electrode bar, and lays respectively at the top and bottom of exciting electrode bar.
Preferably, the first induction electrode bar that described induction electrode bar comprises anti-symmetric shape and the second induction electrode bar, described the first induction electrode bar and described the second induction electrode bar respectively with two electric capacity of the corresponding formation of described two receiving electrode bars.
Preferably, described the first induction electrode bar and described the second induction electrode bar place of matching are shaped as sine wave shape, and described exciting electrode bar length is greater than the peak-to-peak height of described sine wave.
Transmission shaft of the present invention refers to motor shaft or other driving shaft, or the extension shaft being connected with motor shaft or other driving shaft.
Beneficial effect of the present invention is: (1), solved the moving grid that causes due to transmission shaft play and the even damaged problem of quiet grid contact friction, by coaxial inner cylinder and out cylinder are set, and described moving grid is arranged on to the outside surface of described inner cylinder, described quiet grid are arranged on the inside surface of described out cylinder, between described quiet grid and described moving grid, there is certain air gap, adopt this structure, in transmission shaft radial-play tolerance, the possibility that described moving grid and described quiet grid are not in contact with one another;
(2), measure accurately, on described quiet grid, exciting electrode bar length is greater than the sine-shaped peak-to-peak height of induction electrode bar on described moving grid, in the time that described inner cylinder and out cylinder move axially, exciting electrode bar on described quiet grid covers the sine wave shape of induction electrode bar on described moving grid completely, and signal keeps not being subject to the impact of axial float like this;
(3), simplified the structure of product, improve the serviceable life of product, by on described quiet grid, receiving electrode bar being set, the electric charge of the induction electrode bar induction on described moving grid can sense on described receiving electrode bar, thereby avoided introducing signal transmssion line on moving grid.
Brief description of the drawings
Fig. 1 is the structural representation of existing moving grid;
Fig. 2 is the structural representation of existing quiet grid;
Fig. 3 is structural representation of the present invention;
Fig. 4 is the structural representation after quiet grid of the present invention launch;
Fig. 5 is that moving grid of the present invention coordinates the structural representation after launching with quiet grid;
Fig. 6 is modulation signal acceptance/processor structure schematic diagram.
Embodiment
Below in conjunction with accompanying drawing 1, to accompanying drawing 6, the present invention is further elaborated:
A kind of condenser type rotary encoder that allows transmission shaft axial float as shown in Figure 3, comprise quiet grid 2 and moving grid 3, also comprise coaxial inner cylinder 4 and out cylinder 5, inner cylinder 4 be fixed on transmission shaft 1 and with transmission shaft 1 coaxial rotation, transmission shaft 1 is motor shaft or other driving shaft, or the extension shaft of motor shaft or other driving shaft, out cylinder 5 is fixedly installed, transfixion; Moving grid 3 is arranged on the outside surface of inner cylinder 4, and quiet grid 2 are arranged on the inside surface of out cylinder 5, and quiet grid 2 and moving grid 3 keep having certain air gap coaxially and between the two.Adopt this structure because quiet grid 2 are coaxial with moving grid 3, even if axial float occurs transmission shaft 1 like this, can there is not friction or collision in quiet grid 2 and moving grid 3 yet, thereby ensure the life-span of scrambler.
Quiet grid 2 comprise the exciting electrode bar 21 that some strips are identical, and exciting electrode bar 21 is electrically connected with modulation signal acceptance/processor, and these exciting electrode bars 21 form a group or a cycle with even number, as two, four, six, eight etc.According to the number of one-period underexcitation electrode strip 21, the whole cycle 360 of pumping signal is spent and is also divided into accordingly several phase deviation, because moving grid 3 of the present invention and quiet grid 2 are separately positioned in inner cylinder 4 and out cylinder 5, in order to express conveniently, as shown in Figure 4, out cylinder 5 structures are launched, become linear structure, but its principle, working method and function are constant.At the present embodiment, form a group or a cycle by four exciting electrode bars 21, we press A successively four exciting electrode bars 21 in one group of exciting electrode bar 21 for convenience of description, B, C, D numbering, numbering identical exciting electrode bar 21 is linked together and is formed an excitation phase by transmission line 8, give on the exciting electrode bar 21 of every group of identical numbering and add an amplitude by modulation signal acceptance/processor, the pumping signal that frequency is identical with phase place, on the exciting electrode bar 21 of adjacent numbering, the phase differential of pumping signal is 90 °, be that 360 ° of quantity by one group of contained exciting electrode bar 21 of exciting electrode bar 21 are divided equally.Suppose that the first group # is that on the exciting electrode bar 21 of A, to add a phase place be the pumping signal of 0 °, be numbered the pumping signal phase place adding on the exciting electrode bar 21 of B and be 90 °, analogize in proper order, the pumping signal phase place being numbered on the exciting electrode bar 21 of D is just 270 °; And the phase place of the exciting electrode bar 21 that the pumping signal phase place of the exciting electrode bar 21 that the second group # is A is A with the first group # is identical, be 0 °, the like to all groups.If eight exciting electrode bars 21 form one-period, on so each exciting electrode bar 21, the phase differential of pumping signal is 45 °.
As shown in Figure 3, moving grid 3 comprises more than one induction electrode bar 31, as shown in Figure 5, for explaining conveniently, we also coordinate moving grid 3 cylindraceous and are launched into linear shape and describe with quiet grid 2, the pumping signal that modulation signal acceptance/processor produces passes to after the exciting electrode bar 21 on quiet grid 2, and exciting electrode bar 21 is transmitted to the induction electrode bar 31 on moving grid 3 this signal, then by induction electrode bar 31, signal is transferred to modulate circuit and carries out demodulation.Because moving grid 3 rotates along with inner cylinder 4 does, be a movement parts, in movement parts, introduce signal transmssion line and can cause structure complicated and signal transmssion line to be easily out of order.For addressing this problem, the present invention is provided with receiving electrode bar 22 on quiet grid 2, receiving electrode bar 22 has corresponding area with induction electrode bar 31, the two poles of the earth of electric capacity have just been formed like this with regard to receiving electrode bar 22 and induction electrode bar 31, modulation signal on induction electrode bar 31 just can be reflected back receiving electrode bar 22, then sends modulation signal acceptance/processor to by receiving electrode bar 22 and process.
For reduce ground unrest or common mold noise interference as far as possible, in the present embodiment, modulation signal decision design becomes two paths of differential signals to realize common mode noise rejection, for reaching this object, as shown in Figure 4, the quantity of receiving electrode bar 22 adopts two, and two receiving electrode bars 22 are parallel to each other and vertical with exciting electrode bar 21, and lay respectively at the top and bottom of exciting electrode bar 21; As shown in Figure 5, the first induction electrode bar 311 that induction electrode bar 31 comprises anti-symmetric shape and the second induction electrode bar 312, the first induction electrode bar 311 and the second induction electrode bar 312 respectively with two electric capacity of the corresponding formation of upper and lower two receiving electrode bars 22, the modulation signal of two-pass DINSAR is produced by the first induction electrode bar 311 and the second induction electrode bar 312, and is sent to modulation signal reception/processor by upper and lower two receiving electrode bars 22 respectively and processes.
As shown in Figure 5, the first induction electrode bar 311 and the second induction electrode bar 312 places of matching are shaped as sine wave shape, and exciting electrode bar 21 length are greater than the peak-to-peak height of described sine wave.In the time there is axial relatively moving because axial float occurs transmission shaft 1 in inner cylinder 4 and out cylinder 5, exciting electrode bar 21 on quiet grid 2 covers the part of the sine wave shape of the first induction electrode bar 311 and the second induction electrode bar 312 on moving grid 3 completely, thereby makes modulation signal keep not being subject to the impact of transmission shaft 1 axial float.
As shown in Figure 5, the induction electrode bar 31 on each moving grid 3 can by with the corresponding area induced charge of exciting electrode bar 21 on quiet grid 2.The first induction electrode bar 311 and the second induction electrode bar 312 places of matching are shaped as sine wave shape, and the sinusoidal cycle is corresponding, equal in length with the cycle of every group of exciting electrode bar 21 on quiet grid 2.When moving grid 3 has relative rotation with quiet grid 2, without loss of generality, this displacement can be converted to the phasing degree at one-period
the electric charge V that can respond on the first induction electrode bar 311
a:
Wherein K is coefficient, relevant with many factors, and as air gap, air gap specific inductive capacity etc. between pumping signal amplitude, induction electrode bar 31 areas, moving grid 3 and quiet grid 2, generally, under particular design and working environment, K is approximately constant.
The electric charge V of induction on the second induction electrode bar 312
a*contrary with the symbol of induction on the first induction electrode bar 311:
On the first induction electrode bar 311, the electric charge of induction is reflected back the upper receiving electrode bar 22 on quiet grid 2, on the second induction electrode bar 312, the electric charge of induction is reflected back the lower receiving electrode bar 22 on quiet grid 2, then is transferred to modulation signal reception/processor by these two receiving electrode bars 22 respectively.
In the present embodiment, the collection of the signal in modulation signal reception/processor is directly connected with quiet grid 2 with demodulator circuit, in this circuit, and the integrated generation circuit of pumping signal, this is because demodulation needs this with signal frequently.Pumping signal occurs with modulation signal demodulation by same processing of circuit.Pumping signal occurs there is multiple implementation, there is mimic channel also to have the implementation method of digital circuit, object is exactly to produce the multichannel periodic signal of dividing equally phase differential, adopt in the present embodiment sinusoidal signal, because four exciting electrode bars 21 are one-period, are the sine wave of 90 degree so pumping signal Wei Si road differs; For ensureing signal intensity, preferential proportion is greater than 10KHz, and peak-to-peak value is 3 to 15V sine wave.On the one hand, Zhe Si road pumping signal sends corresponding exciting electrode bar 21 to by the signal transmission line 8 on quiet grid 2, and on the other hand, the sinusoidal signal of 0 degree and 90 degree phase places is sinusoidal sends signal demodulation module 13 to cosine signal simultaneously.
As shown in Figure 6, the receiving electrode bar 22 of two-pass DINSAR modulation signal from quiet grid 2 is delivered to signals collecting and amplification module 11, because its signal amplitude is faint, need to carry out differential amplification, suppress common-mode noise, signal amplitude is brought up to hundreds of millivolts to thousands of millivolts.Signal demodulation module 13 receives these modulation signals that amplified, and the pumping signal producing with pumping signal generation module 12 multiplies each other can dissociative excitation signal and displacement signal.Multiply each other with sinusoidal excitation signal, signal results comprises trigonometric function and the displacement of pumping signal doubled frequency
cosine function
compared with the signal of pumping signal doubled frequency,
be DC quantity, filter high fdrequency component by low-pass filtering module 14, just obtain
similarly, the modulation signal amplifying and cosine pumping signal multiply each other, and signal results comprises trigonometric function and the displacement of pumping signal doubled frequency
sine function
compared with the signal of pumping signal doubled frequency,
be DC quantity, filter high fdrequency component by low-pass filtering module 14, just obtain
Obtain displacement by said method
cosine and sine signal after, just can calculate displacement by the whole bag of tricks.Some product can directly be accepted the output of this cosine and sine signal as scrambler on the market, and this technology is quite ripe, converts displacement signal so how the present invention repeats no more to cosine and sine signal.
The above embodiment, it is preferred embodiments of the present invention, be not to limit practical range of the present invention, the equivalence of doing according to structure, feature and principle described in the present patent application the scope of the claims therefore all changes or modifies, and all should be included in patent claim of the present invention.
Claims (2)
1. one kind allows the condenser type rotary encoder of transmission shaft axial float, comprise quiet grid (2) and moving grid (3), it is characterized in that: described condenser type rotary encoder also comprises coaxial inner cylinder (4) and out cylinder (5), described inner cylinder (4) be fixed on transmission shaft (1) upper and with described transmission shaft (1) coaxial rotation, described out cylinder (5) is fixedly installed; Described moving grid (3) is arranged on the outside surface of described inner cylinder (4), described quiet grid (2) are arranged on the inside surface of described out cylinder (5), between described quiet grid (2) and described moving grid (3), have certain air gap;
Described quiet grid (2) comprise the exciting electrode bar (21) that some strips are identical, described moving grid (3) comprises more than one induction electrode bar (31), the length of described induction electrode bar (31) is greater than the length of described exciting electrode bar (21), to ensure that described induction electrode bar (31) covers described exciting electrode bar (21) completely in the time that play occurs described transmission shaft (1).
Described quiet grid (2) also comprise two receiving electrode bars (22), described two receiving electrode bars (22) are parallel to each other and vertical with described exciting electrode bar (21), and lay respectively at the top and bottom of exciting electrode bar (21);
The first induction electrode bar (311) that described induction electrode bar (31) comprises anti-symmetric shape and the second induction electrode bar (312), described the first induction electrode bar (311) and described the second induction electrode bar (312) two electric capacity of formation corresponding to described two receiving electrode bars (22) respectively.
2. the condenser type rotary encoder of permission transmission shaft axial float as claimed in claim 1, it is characterized in that: described the first induction electrode bar (311) and described the second induction electrode bar (312) place of matching are shaped as sine wave shape, and described exciting electrode bar (21) length is greater than the peak-to-peak height of described sine wave.
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| CN201210570643.0A CN102998478B (en) | 2012-12-25 | 2012-12-25 | Capacitive rotary encoder allowing axial movement of transmission shaft |
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| CN201210570643.0A CN102998478B (en) | 2012-12-25 | 2012-12-25 | Capacitive rotary encoder allowing axial movement of transmission shaft |
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| CN102998478B true CN102998478B (en) | 2014-08-13 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806891A (en) * | 2016-09-09 | 2018-03-16 | 西门子公司 | The column type capacitance encoder and motor of motor |
| CN107806890A (en) * | 2016-09-09 | 2018-03-16 | 西门子公司 | Column type capacitance encoder and apply its motor |
| CN107806892A (en) * | 2016-09-09 | 2018-03-16 | 西门子公司 | Column type capacitance encoder and motor |
| CN107121155A (en) * | 2017-06-20 | 2017-09-01 | 上海昶屹机电科技有限公司 | A kind of measurement apparatus |
| CN109282927B (en) * | 2018-11-20 | 2023-09-01 | 广东盈动高科自动化有限公司 | Shaft torque measurement system and measurement method |
| CN111623805A (en) * | 2020-06-18 | 2020-09-04 | 苏州希声科技有限公司 | Ultrasonic rotary encoder suitable for micro-shaft rotation measurement |
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|---|---|---|---|---|
| US4694275A (en) * | 1986-05-01 | 1987-09-15 | Emerson Electric Co. | Digital capacitance incremental encoder |
| CN101226065A (en) * | 2008-02-03 | 2008-07-23 | 中北大学 | Built-in capacitor grid torque and tachometric sensor |
| CN102798405A (en) * | 2011-05-27 | 2012-11-28 | 西门子公司 | Capacitance type rotary encoder and method for sensing rotation angle |
| CN202994819U (en) * | 2012-12-25 | 2013-06-12 | 广东盈动高科自动化有限公司 | Capacitive rotary encoder allowing axial movement of transmission shaft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759369A (en) * | 1993-08-12 | 1995-03-03 | Yokogawa Electric Corp | Ultrasonic motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4694275A (en) * | 1986-05-01 | 1987-09-15 | Emerson Electric Co. | Digital capacitance incremental encoder |
| CN101226065A (en) * | 2008-02-03 | 2008-07-23 | 中北大学 | Built-in capacitor grid torque and tachometric sensor |
| CN102798405A (en) * | 2011-05-27 | 2012-11-28 | 西门子公司 | Capacitance type rotary encoder and method for sensing rotation angle |
| CN202994819U (en) * | 2012-12-25 | 2013-06-12 | 广东盈动高科自动化有限公司 | Capacitive rotary encoder allowing axial movement of transmission shaft |
Non-Patent Citations (1)
| Title |
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| JP特开平7-59369A 1995.03.03 |
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Application publication date: 20130327 Assignee: BEIJING ZHILIAN'AN TECHNOLOGY CO., LTD. Assignor: Guangdong Yingdong Gaoke Automation Co., Ltd. Contract record no.: 2015990000197 Denomination of invention: Capacitive rotary encoder allowing axial movement of transmission shaft Granted publication date: 20140813 License type: Exclusive License Record date: 20150414 |
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