CN103512598B - a kind of absolute type matrix encoder - Google Patents
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- CN103512598B CN103512598B CN201310356330.XA CN201310356330A CN103512598B CN 103512598 B CN103512598 B CN 103512598B CN 201310356330 A CN201310356330 A CN 201310356330A CN 103512598 B CN103512598 B CN 103512598B
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Abstract
The present invention relates to a kind of senser element measuring the physical quantitys such as the anglec of rotation, rotational speed, straight-line displacement for automatic field, especially a kind of absolute type matrix encoder.Comprise code-disc and slit plate and the light source laid respectively on the left of code-disc and the read head be positioned on the right side of slit plate and the signal processing apparatus be connected with read head that same gap of main reinforcement arranges, code-disc follows main axis, and slit plate is motionless relative to code-disc.Each circle slit receives high level signal when logical light, obstructed smooth time be low level signal, this code-wheel energy outputting ten coding, slit plate size is little, and single head can be adopted to read signal, and structure is simple, debugging is convenient, improves scrambler miniaturization, microminiaturized development significantly.
Description
Technical field
The invention belongs to the field of measuring technique utilizing and transmit sensing member and export, relate to a kind of senser element measuring the physical quantitys such as the anglec of rotation, rotational speed, straight-line displacement for automatic field, specifically a kind of absolute type matrix encoder.
Technical background
Optical electric axial angle encoder is a kind of sensor of the conventional physical quantity such as measurement length, angle, speed, by the difference of coded system, substantially can be divided into increment type, absolute type and accurate absolute optical encoder three major types, wherein absolute photoelectric shaft encoder has absolute position counting, precision is high, reliable and stable, by advantages such as external interference are little.Machine tool, the digital value that brake system of car needs sensor to produce sometimes is to indicate mechanical location.As the concept map that Fig. 1 is code-wheel and some contacts, according to the position that dish turns, contact produces 3 binary codings, has 8 such codings.Region dark in dish is connected with the signal source of corresponding logical one; Bright region does not connect, and contact is interpreted as logical zero.Use Gray code to the bright dark areas coding on code-wheel, make between its continuous print code word, to only have a numerical digit change.The limited accuracy that would not manufacture because of device like this, and make contact forward boundary position to and occur error coded.
The core parts of optical electric axial angle encoder are code-wheels, the slit plate shown in Fig. 3 comprising Fig. 2 code-disc He match, and wherein code-disc is connected with scrambler main shaft, when the shaft rotates, drive code-disc synchronous axial system.Light source (infraluminescence pipe) is housed in the side of code-disc, at opposite side, photoelectric receiving tube is housed, between code-disc and photoelectric receiving tube, slit plate is housed.The light that light source sends is through code-disc, and slit, is accepted by photoelectric receiving tube.When code-disc and slit generation relative angular displacement, photosignal is modulated into the electric signal of strong and weak change, and through amplifying, shaping, the sport technique segments such as decoding, export binary-level code.
Along with the needs in industrialization and high-tech development and the field such as military project, scientific research, more and more urgent to the requirement of optical electric axial angle encoder miniaturization.The requirement of optical electric axial angle encoder miniaturization, the radial dimension of code-disc and slit plate must be made to reduce or adopt special method for designing on the code channel design of code-disc, but, after the size of code-disc and slit reduces, affect the effective width in code channel region, that is, if ensure same resolution, code channel quantity is constant, can only reduce the width of code channel, very little to the reduction contribution of size like this; If ensure that code channel width is constant, can only be reduce code channel quantity, encoder resolution can be caused like this to reduce.
Slit plate shown in code-disc shown in Fig. 2 and Fig. 3 match form matrix coder dish, can only export 8 bit codes, the angle resolution of scrambler can only reach 1.40625 °.Therefore, require the radial dimension of code-disc to reduce and don't reduce the output figure place of scrambler, new method for designing will be taked in the code channel layout of code-disc.
Summary of the invention
Instant invention overcomes the defect that disclosed technology so far exists, improve the angle measurement accuracy of scrambler, reduce the physical dimension of scrambler, solve the needs of absolute type encoder miniaturization, expand application and the usable range of scrambler, propose a kind of novel absolute type matrix encoder.
The object of the present invention is achieved like this: a kind of absolute type matrix encoder, comprise code-disc and slit plate and the light source laid respectively on the left of code-disc and the light activated element be positioned on the right side of slit plate and the signal processing apparatus be connected with light activated element that same gap of main reinforcement arranges, on described code-disc, radially delineation has code channel, described slit plate is provided with slit accordingly, it is characterized in that: on described code-disc, code channel number is 3:
First lap code channel is provided with different subregions, is respectively 0 ° ~ 90 °, 90 ° ~ 180 °, 180 ° ~ 270 °, 270 ° ~ 360 ° four sector regions: in the region of 0 ° ~ 90 °, is all non-transparent zone section; In 90 ° ~ 180 ° regions, it is all transparent zone section; In the region of 180 ° ~ 270 °, have two transparent zone sections and not two opaque zone sections, both are wide and distribute alternately, and the width of each transparent zone section and opaque zone section is 22.5 °; In 270 ° ~ 360 ° regions, have two, width is the transparent zone section of 22.5 °, and the width of transparent zone section is the half of a unique non-transparent zone section; Second circle code channel is correcting code, is circumferentially equally spacedly be provided with 16 transparent zone sections and 16 opaque zone sections whole, and their width is 11.25 when distribute alternately, and one of them transparent zone section, with 0 ° of line symmetry, respectively has 5.625 ° up and down;
Three circle channel is divided into four sector regions, and the transparent zone section of each sector region is identical with the set-up mode of opaque zone section; Each is wide is in the sector region of 90 °, the hop count of transparent zone section is by 2,4,8, the Geometric Sequence echelon of 16 be distributed in each wide be in the subregion of 22.5 °, distributing alternately of transparent zone section in same subregion and opaque zone section, the opaque zone section that every two transparent zones are intersegmental and transparent zone section wide, but also respectively there is a half-breadth opaque zone section in the outside of initial and end two transparent zone sections, namely its width is the half of transparent zone section, to realize transparent zone section and section overall width separately in opaque zone is equal to 11.25 °.
As preferably, a kind of absolute type matrix encoder, in the radial position that described slit plate is corresponding with described code-disc, in the sector region that beam overall is 90 °, the large strip slit such as to be provided with, be specially: A: first is provided with eight slits, represent with a1, a2, a3, a4, a5, a6, a7, a8, a1 357.1875 °, a2 2.8125 °, a3 19.6875 °, a4 25.3125 °, a5 42.1875 °, a6 47.8125 °, a7 64.6875 °, a8 is at 70.3125 °; B: second is provided with two slits, represents with b1, b2, b1 5.625 °, b2 is at 11.25 °; C: the three road is provided with four articles of slits, represents with c1, c2, c3, c4, c1 0 °, c2 22.5 °, c3 45 °, c4 is at 67.5 °.The first lap code channel of code-disc and the first slit of slit plate match, second circle code channel of code-disc and the second slit of slit plate match, the three circle channel of code-disc and the 3rd road slit of slit plate match, when code-disc rotates clockwise, first slit, second slit, the 3rd road slit, when running into the transparent zone section of code channel corresponding on code-disc, and just present high level state through the slit of slit plate.When running into opaque zone section, present low level state, do not have signal to export.Such level signal combination, just represents the motion feature of measurand.
As preferably, a kind of absolute type matrix encoder, described slit plate is fan-shaped, and beam overall is in the scope of 90 °, the wide 50um of every slit, and isometric with transparent zone section radial direction.This slit plate size is less, effectively can save material, and slit arranges compact too, coordinates exportable 10 codings of code-disc.
As preferably, a kind of absolute type matrix encoder.Described absolute type matrix encoder, described in be positioned at light source on the left of code-disc only have one; The described light activated element be positioned on the right side of slit plate has 14, and namely each light activated element is just to bar slit every on slit plate.This takes full advantage of every bar slit, and comparatively prior art arranges light activated element by code channel number, can obtain more odd encoder.
Principle of work of the present invention: principle of work is as Fig. 6, and it comprises code-disc 1, slit plate 2, light source 3, light activated element 4, signal processing apparatus 5, main shaft 6.Scrambler work time, code-disc 1 rotates with main shaft 6, the light therethrough code-disc 1 sent by light source 3 and slit plate 2 receive by light activated element 4, then through amplify, shaping, by decoding, code non-periodic is changed into ten Gray codes of standard.
Good effect of the present invention is, be both mating of three circle channel and three road slits, prior art can only export eight codings, and angle resolution is 1.40625 °, and outputting ten position of the present invention coding, angle resolution is 0.3515625 °.Prior art slit window is 360 ° of circumferentially quartern distributions, the utility model slit is distributed in the fan-shaped range of 90 °, slit sizes is 1/4 of prior art slit sizes, structure is simple, debugging is convenient, with low cost, promote that scrambler is to miniaturization, miniaturization, expands the range of application of scrambler.
Accompanying drawing explanation
Fig. 1 is the concept map of code-disc and some contacts;
The code-disc of Fig. 2 prior art;
Fig. 3 is the slit plate with the supporting prior art of Fig. 1;
Fig. 4 is the structural representation of the code-disc of the embodiment of the present invention;
Fig. 5 is the structural representation of the slit plate of the embodiment of the present invention;
Fig. 6 fundamental diagram of the present invention;
Fig. 7 is the high level signal indicator gauge of the first lap of the embodiment of the present invention, table 1;
Fig. 8 is the cycle binary code decoding table of Fig. 6, table 2;
Fig. 9 is the cycle binary code decoding table of the 3rd circle of the embodiment of the present invention, table 3;
Figure 10 is code channel shop drawing of the present invention.
In figure: 1, code-disc, 1a, transparent zone section, 1b, opaque zone section, 1b ', half-breadth opaque zone section, 2, slit plate, 2a, slit, 3 light sources, 4, light activated element, 5, signal processing apparatus, 6, main shaft.
Specific embodiment
Below by embodiment, and in conjunction with each accompanying drawing, technical scheme of the present invention is described in further detail.
Embodiment 1: the invention discloses a kind of absolute type matrix encoder.Principle of work of the present invention is shown in Fig. 6, comprise code-disc 1 and the slit plate 2 and the light source 3 laid respectively on the left of code-disc and the read head 4 be positioned on the right side of slit plate and the signal processing apparatus 5 be connected with read head 4 arranged in same main shaft 6 gap, on described code-disc 1, radially delineation has code channel, described slit plate 2 is provided with slit 2a accordingly, on described code-disc 1, code channel number is 3, comprise code-disc 1 and slit plate 2 and the light source 3 laid respectively on the left of code-disc and the read head 4 be positioned on the right side of slit plate and the signal processing apparatus be connected with 3 read heads 4 that concentric gap arranges, on described code-disc 1, radially delineation has code channel, described slit plate 2 is provided with slit 2a accordingly, it is characterized in that: on described code-disc 1, code channel number is 3, the material being specially code-disc 1 and slit 2 can adopt K9 optical glass, adopt chrome-faced, photoetching, the method copied is made.The code-disc 1 that concentric gap is arranged and slit plate 2, physical dimension is φ 30 donut, on described code-disc 1, radially delineation has code channel, described slit plate 2 is provided with slit 2a accordingly, on described code-disc 1, code channel number is 3, first lap code channel is provided with different subregions, is respectively 0 ° ~ 90 °, 90 ° ~ 180 °, 180 ° ~ 270 °, 270 ° ~ 360 ° four sector regions: in the region of 0 ° ~ 90 °, is all non-transparent zone section 1b; In 90 ° ~ 180 ° regions, it is all transparent zone section; In the region of 180 ° ~ 270 °, have two transparent zone section 1a and two opaque zone section 1b, both width are equal but distribute alternately, and the width of each transparent zone section 1a and opaque zone section 1b is 22.5 °; In 270 ° ~ 360 ° regions, have two transparent zone section 1a, the width of transparent zone section 1a is the half of non-transparent zone section 1b, and width is 22.5 °; Second circle code channel is correcting code, and be circumferentially equally spacedly be provided with 16 transparent zone section 1a and 16 opaque zone section whole, their width is 11.25 ° and distributes alternately, and one of them transparent zone section, with 0 ° of line symmetry, respectively has 5.625 ° up and down; Three circle channel is divided into four sector regions, and the transparent zone section 1a of each sector region is identical with the set-up mode of opaque zone section 1b; Each is wide is in the sector region of 90 °, the hop count of transparent zone section is by 2,4,8, the Geometric Sequence echelon of 16 be distributed in each wide be in the subregion of 22.5 °, transparent zone section 1a in same subregion and opaque zone section 1b distributes alternately, the opaque zone section that every two transparent zones are intersegmental and transparent zone section wide, but also respectively there is a half-breadth opaque zone section 1b ' in the outside of initial and end two transparent zone sections, namely its width is the half of transparent zone section, to realize transparent zone section 1a and section 1b width separately in opaque zone is equal to 11.25 °.In the radial position that described slit plate 2 is corresponding with described code-disc 1, in the sector region that beam overall is 90 °, the large strip slit 2a such as to be provided with, be specially: A: first is provided with eight slit 2a, represent with a1, a2, a3, a4, a5, a6, a7, a8, a1 357.1875 °, a2 2.8125 °, a3 19.6875 °, a4 25.3125 °, a5 42.1875 °, a6 47.8125 °, a7 64.6875 °, a8 is at 70.3125 °; B: second is provided with two slit 2a, represents with b1, b2, b1 5.625 °, b2 is at 11.25 °; C: the three road is provided with four articles of slit 2a, represents with c1, c2, c3, c4, c1 0 °, c2 22.5 °, c3 45 °, c4 at 67.5 °, successively differ 22.5 °.Both are parallel to each other and keep certain gap, be arranged on the main shaft of the rotation of scrambler respectively with in fixing main body, code-disc 1 is with scrambler main axis, slit plate 2 maintains static dynamic relative to scrambler main shaft, relatively rotate between code-disc 1 and slit plate 2, output code records the angular displacement position of scrambler main axis.The first lap code channel of code-disc 1 and the first slit of slit plate match, second circle code channel of code-disc 1 and the second slit of slit plate match, three circle channel as the code-disc 1 of Fig. 4 matches with the 3rd road slit as Fig. 5 slit plate, when code-disc 1 rotates clockwise, first slit 2a, second slit 2a, the 3rd road slit 2a, when running into the transparent zone section of code channel corresponding on code-disc 1, light activated element 4 presents high level state, has signal and exports.When running into opaque zone section, light activated element 4 presents low level state, does not have signal to export.The photosignal that first slit a1 a2 a3 a4 a5 a6 a7 a8 receives is as shown in the table 1 of Fig. 7: AX represents transparent zone high level signal, and space represents opaque zone low level signal, and the relational expression of signal transacting is:
In the table 1 of Fig. 7, with A1 place behavior example, if representative is when code-disc is at 90 ° ~ 112.5 °, 112.5 ° ~ 135 °, 135 ° ~ 157.5 °, 157.5 ° ~ 180 °, 202.5 ° ~ 225 °, 247.5 ° ~ 270 °, 270 ° ~ 292.5 °, 337.5 ° ~ 360 ° positions, obtain high level AX simultaneously, all the other are low level signal, and corresponding low and high level 1 and 0 represent, then A1 corresponding row is expressed as binary number is that 0000111101011001 follow-up A2 to A4 differs 22.5 ° successively.A1, A2, A3, A4 are not traditional cycle codes, and be processed into standard binary code Z1, Z2, Z3, Z4 by decoding, decoding table is shown in shown in the table 2 of Fig. 8.D1 column indicates the location of reading of 16 22.5 ° of code-disc, the sequence number of the row in corresponding table 1 corresponding to D1.0 of first row refers to it is 0 ° ~ 22.5 ° corresponding positions on code-disc.Binary number 0000111101011001 arranges to arrangement by A1 row exactly, and D2 row corresponding A 1 is the decimal number 0 of the horizontal binary number 0000 of D1 sequence number 0 to A4.To continuous print decimal number 0 to 15 under D3 row, the corresponding D3 of arbitrary behavior that Z1 to Z4 arranges arranges the binary number that descending decimal number changes into, and the value arranging the 3rd row as D3 is 2, and changing into binary number is 0010, like this, the binary number under Z3 row is 0011001100110011.
Second slit b
1and b
2output single A5 code and A6 code separately, namely need not become the 5th traditional bit code A5 and the 6th bit code A6 through special processing.The light signal that 3rd road slit c1, c2, c3, c4 receives, as shown in the table 3 of Fig. 9, the relational expression being processed into tradition cycle binary code is:
In table, c1 is capable intersects corresponding A7 with first row, represents at 0 ° ~ 22.5 °, 90 ° ~ 112.5 °, 180 ° ~
202.5 °, 270 ° ~ 292.5 ° positions obtain high level, when other angles are low level, and read the code A7, corresponding logical relationship formula
.
Embodiment 2: a kind of absolute type matrix encoder, comprises circular code-disc 1 and fan-shaped slit plate 2, and all adopt K9 optical glass, both arrangements are with embodiment 1, but physical dimension is φ 25.Described only have and the described light activated element be positioned on the right side of slit plate being positioned at light source on the left of code-disc has 14, and namely each light activated element 4 is just to bar slit 2a every on slit plate 2.
The delineation mode of slit plate 2 Shang tri-road slit 2a is: A: first is provided with eight slit 2a, represent with a1, a2, a3, a4, a5, a6, a7, a8, a1-2.8125 °, a2 2.8125 °, a3 19.6875 °, a4 25.3125 °, a5 42.1875 °, a6 47.8125 °, a7 64.6875 °, a8 is at 70.3125 °; B: second is provided with two slit 2a, represents with b1, b2, b1 5.625 °, b2 is at 11.25 °; C: the three road is provided with four articles of slit 2a, represents with c1, c2, c3, c4, c1 0 °, c2 22.5 °, c3 45 °, c4 is at 67.5 °.When rotating clockwise, 10 different Gray codes can be realized equally, to distinguish the absolute angle angle value that code-disc 1 turns over.
Embodiment 3: a kind of absolute type matrix encoder, the radial dimension of code-disc 1 and 90 ° of fan-shaped slit plates 2 need only be amplified, and delineation layout type need not be changed, adopt different decoding tables, four matrix code disks of precedent, also become eight matrix code disks, its exportable 14 different Gray codes, resolution can reach 360 °/2
14=0.02 °, specific works principle is shown in Fig. 6.This takes full advantage of every bar slit, and comparatively prior art arranges light activated element by code channel number, can obtain more odd encoder.Can only 2 be exported for the prior art being all 3 code channels
3individual coding.
In a word, compared with the prior art, be both three circle channel and enclose mating of slit with three, material also can adopt metal in the present invention.Prior art can only export eight codings, and angle resolution is 1.40625 °, and encode in the utility model outputting ten position, angle resolution is 0.3515625 °.Prior art slit window is 360 ° of circumferentially quartern distributions, slit window of the present invention is distributed within the scope of 90 °, slit sizes is 1/4 of prior art slit sizes, and adopt scrambler of the present utility model, only need fixing single light source, structure is simple, debugging is convenient, with low cost, promote that scrambler is to miniaturization, miniaturization, expands the range of application of scrambler.
Claims (4)
1. an absolute type matrix encoder, the signal processing apparatus (5) comprising code-disc (1) and the slit plate (2) arranged in same rotary main shaft (6) gap and lay respectively at light source (3) on the left of code-disc and the light activated element be positioned on the right side of slit plate (4) and be connected with light activated element (4), it is characterized in that, on described code-disc (1), radially delineation has code channel, described slit plate (2) is provided with slit (2a) accordingly, it is characterized in that: the upper code channel number of described code-disc (1) is 3
A: first lap code channel is provided with different subregions, be respectively 0 ° ~ 90 °, 90 ° ~ 180 °, 180 ° ~ 270 °,
270 ° ~ 360 ° four sector regions: in the region of 0 ° ~ 90 ° are all opaque zone section (1b); In 90 ° ~ 180 ° regions, it is all transparent zone section (1a); In the region of 180 ° ~ 270 °, have two transparent zone sections (1a) and two opaque zone sections (1b), both are wide and distribute alternately, and each transparent zone section (1a) and opaque zone section (1b) width are 22.5 °; In 270 ° ~ 360 ° regions, having two width to be 22.5 ° of transparent zone sections (1a), is the half of a unique opaque zone section width;
B: the second circle code channel is correcting code, be circumferentially equally spacedly be provided with 16 transparent zone sections (1a) and 16 opaque zone sections (1b) whole, they are 11.25 ° but distribute alternately by width, one of them transparent zone section (1a), with 0 ° of line symmetry, respectively there are 5.625 ° up and down;
C: the three circle channel is divided into four sector regions, and the transparent zone section of each sector region is identical with the set-up mode of opaque zone section, each is wide is in the sector region of 90 °, the hop count of transparent zone section (1a) is by 2, 4, 8, the Geometric Sequence echelon of 16 be distributed in each wide be in the subregion of 22.5 °, transparent zone section (1a) in same subregion and opaque zone section (1b) distribute alternately, opaque zone section (1b) between every two transparent zone sections (1a) is wide with transparent zone section (1a), but it is first, also respectively there is a half-breadth opaque zone section (1b ') in the outside of tail two transparent zone sections (1a), namely its width is the half of transparent zone section (1a), to realize transparent zone section (1a) and the respective overall width of opaque zone section (1b) is equal to 11.25 °.
2. absolute type matrix encoder according to claim 1, it is characterized in that: in the radial position that described slit plate (2) is corresponding with described code-disc (1), in the sector region that beam overall is 90 °, the large strip slit (2a) such as to be provided with, to be specially:
A: first is provided with eight slits (2a), represent with a1, a2, a3, a4, a5, a6, a7, a8, a1 357.1875 °, a2 2.8125 °, a3 19.6875 °, a4 25.3125 °, a5 42.1875 °, a6 47.8125 °, a7 64.6875 °, a8 is at 70.3125 °;
B: second is provided with two slits (2a), represents with b1, b2, b1 5.625 °, b2 is at 11.25 °;
C: the three road is provided with four articles of slits (2a), represents with c1, c2, c3, c4, c1 0 °, c2 22.5 °, c3 45 °, c4 is at 67.5 °.
3. absolute type matrix encoder according to claim 2, is characterized in that: described slit plate (2) is for fan-shaped, and beam overall is 90 °, every slit (2a) wide 50um, and radial isometric with transparent zone section (1a).
4. the absolute type matrix encoder according to Claims 2 or 3, is characterized in that: described in the light source (3) be positioned on the left of code-disc only have one; The described light activated element (4) be positioned on the right side of slit plate has 14, and namely each light activated element (4) is just to the upper every bar slit (2a) of slit plate (2).
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| CN106841677B (en) * | 2017-03-23 | 2019-04-23 | 山东省科学院海洋仪器仪表研究所 | A kind of cursor type photoelectricity wind direction coder |
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| CN101339053A (en) * | 2008-08-08 | 2009-01-07 | 中国科学院长春光学精密机械与物理研究所 | Double group reading matrix type photoelectric coded circle |
| CN101441093A (en) * | 2008-12-29 | 2009-05-27 | 中国科学院长春光学精密机械与物理研究所 | Minitype absolute encoder with sixteen bit output |
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| CN103512598A (en) | 2014-01-15 |
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