CN104931076A

CN104931076A - Encoder, electromechanical device, robot and railway vehicle

Info

Publication number: CN104931076A
Application number: CN201510119278.5A
Authority: CN
Inventors: 竹内启佐敏; 西泽克彦
Original assignee: Seiko Epson Corp
Current assignee: Godo Kaisha IP Bridge 1
Priority date: 2014-03-17
Filing date: 2015-03-13
Publication date: 2015-09-23
Also published as: CN104931075A

Abstract

The invention provides an encoder, an electromechanical device, a robot and a railway vehicle. The encoder comprises an M-pole (M is an even number) magnet body and a 2-axis magnetic sensor circuit having two magnetic sensing axis directions. Small magnets forming the magnet body are magnetized in the direction intersecting with the magnetic sensing surface of the 2-axis magnetic sensor circuit.

Description

Scrambler, electromechanical assembly, robot and rolling stock

The application is application number is 201510111581.0, and the applying date is on 03 13rd, 2015, and denomination of invention is the divisional application of the application for a patent for invention of " scrambler, electromechanical assembly, robot and rolling stock ".

Technical field

The present invention relates to the scrambler employing Magnetic Sensor and the various devices employing this scrambler.

Background technology

As the scrambler employing Magnetic Sensor, there will be a known the rotary encoder described in patent documentation 1.At the rotary body of rotary encoder, the heart is provided with the first magnet wherein, is provided with multiple second magnets of ring-type at outer circumferential side.In addition, second magneto sensor in the first magneto sensor fixed body opposed with rotary body being provided with the magnetic field of detection first magnet and the magnetic field detecting the second magnet.First magneto sensor and the second magneto sensor are made up of 2 the magnetoimpedance patterns being arranged at mutually orthogonal direction respectively.In order to suitably detect magnetic field by magnetoimpedance pattern, be magnetized along the direction (namely parallel with turning axle direction) towards magneto sensor with the first magnet and the second magnet, and it is opposed with magneto sensor to be configured to its magnetizing surface (with the face that direction of magnetization is orthogonal).But, use these first magneto sensors and the second magneto sensor can not detect the absolute anglec of rotation.Therefore, in order to detect the absolute anglec of rotation, fixed body is provided with 2 of the angle configurations of 90 degree Hall elements.

Patent documentation 1: Japanese Unexamined Patent Publication 2012-112707 publication

But, in above-mentioned scrambler in the past, owing to using magnetoimpedance pattern to detect magnetic field, so limit the accuracy of detection of the anglec of rotation according to the precision of the impedance of magnetoimpedance pattern.Usually, the precision improving the impedance of magnetoimpedance pattern is very difficult.Therefore, the technology that more precisely can detect the anglec of rotation is wished.In addition, be not limited to the anglec of rotation, usually, wish the scrambler that can detect position accurately.Further, about electromechanical assembly, also wish to use scrambler to carry out the technology of position detection accurately.

Summary of the invention

The present invention, in order to solve completing at least partially of above-mentioned problem, can realize as following mode.

(1) according to a mode of the present invention, provide and measure relative to the scrambler of first component along the position of the second component of the moving direction movement of regulation.This scrambler possesses: the magnet body of M pole (M is even number), and it comprises the multiple small magnets being arranged at above-mentioned second component; And 2 axial magnetic sensor circuit, it has apart from the surface of above-mentioned magnet body and certain is configured on above-mentioned first component with gap, generates and represents that above-mentioned second component exports relative to the position signalling of the position of above-mentioned first component.Above-mentioned 2 axial magnetic sensor circuit have 2 magnetosensitive direction of principal axis.The direction that each small magnet forming above-mentioned magnet body intersects in the magnetosensitive face with above-mentioned 2 axial magnetic sensor circuit is magnetized.

According to this scrambler, use 2 axial magnetic sensor circuit, so position detection can be carried out accurately.In addition, the direction that each small magnet forming magnet body intersects in the magnetosensitive face with 2 axial magnetic sensor circuit is magnetized, so can pass through the stronger magnetic field of 2 axial magnetic sensor electric circuit inspection small magnets, its result, can carry out the detection of high-precision position.

(2) in above-mentioned scrambler, also can comprise for above-mentioned 2 axial magnetic sensor circuit: multiple X-axis Hall element, they are for measuring the magnetic field along the above-mentioned X-axis in mutually orthogonal X-axis and Y-axis; And multiple Y-axis Hall element, it measures the magnetic field along above-mentioned Y-axis, according to the output signal of above-mentioned multiple X-axis Hall element and the output signal of above-mentioned multiple Y-axis Hall element, generate represent above-mentioned second component relative to the position of above-mentioned first component position signalling and export.

According to this structure, as the output of multiple Hall elements of 2 axial magnetic sensor circuit, the sinuous output that magnetic distortion is less can be obtained, can export based on the sinusoidal wave shape that these magnetic distortions are less and carry out position detection accurately.

(3) in above-mentioned scrambler, above-mentioned multiple X-axis sensor element also can comprise the first group of X-axis Hall element and the second group of X-axis Hall element that are configured in the position of mutually departing from along above-mentioned X-axis.In addition, above-mentioned multiple Y-axis sensor element also can comprise the first group of Y-axis Hall element and the second group of Y-axis Hall element that are configured in the position of mutually departing from along above-mentioned Y-axis.Above-mentioned 2 axial magnetic sensor circuit carry out following actions: (a) is by the difference of the output signal of the output signal and above-mentioned second group of X-axis Hall element of getting above-mentioned first group of X-axis Hall element, generate sine wave signal, b () is by the difference of the output signal of the output signal and above-mentioned second group of Y-axis Hall element of getting above-mentioned first group of Y-axis Hall element, generate cosine wave signal, c (), according to above-mentioned sine wave signal and above-mentioned cosine wave signal, generates and represents the above-mentioned position signalling of above-mentioned second component relative to the position of above-mentioned first component.

According to this structure, when the setting position of 2 axial magnetic sensor circuit, the position of magnetic pole that caused by the flux distortions of magnet misplace slightly, also can carry out position accurately and detect.

(4) in above-mentioned scrambler, can be also rotary body for above-mentioned second component, the parts that above-mentioned magnet body is made up of 2 small magnets be mutually magnetized in the opposite direction.

According to this structure, by the magnetic field utilizing the Hall element of 2 axial magnetic sensor circuit to detect the magnet body be made up of 2 small magnets, the sinuous output that magnetic distortion is less can be obtained.

(5) in above-mentioned scrambler, also can be rotary body for above-mentioned second component, above-mentioned magnet body comprises the many groups of small magnets pair be made up of 2 small magnets be mutually in the opposite direction magnetized, and above-mentioned many group small magnets are to the track configurations of the circle along the turning axle around above-mentioned rotary body.

According to this structure, the position detection accuracy of scrambler can be improved further.

(6) in above-mentioned scrambler, each small magnet has rectangular shape,

Each small magnet to also having 2 small magnets, and becomes the coating member of antiparallelogram prism shape by the shape of the right entirety of above-mentioned small magnet that makes at least partially of the surrounding covering above-mentioned 2 small magnets.

According to this structure, easily can make and employ the higher scrambler of the right position detection accuracy of multiple small magnet.

(7) in above-mentioned scrambler, above-mentioned small magnet also can be formed by strong magnetic film.

According to this structure, the small-sized and small magnet of brute force can be utilized, so can position detection accuracy be improved, and make scrambler overall compact.

(8) according to other modes of the present invention, a kind of electromechanical assembly is provided.This electromechanical assembly possesses: scrambler, and it is connected with the rotor of above-mentioned electromechanical assembly; And control part, it controls the action of above-mentioned electromechanical assembly.

According to this electromechanical assembly, the position can carrying out the rotor of electromechanical assembly is accurately detected.

(9) can be also the AC brushless motor with 2 phase solenoids for above-mentioned electromechanical assembly, above-mentioned control part has drive singal generating unit, this drive singal generating unit, according to the above-mentioned sine wave signal of the above-mentioned 2 axial magnetic sensor circuit outputs from above-mentioned scrambler and above-mentioned cosine wave signal, generates the drive singal of above-mentioned 2 phase solenoids.

According to this structure, generate 2 phase drive singal, so the phase offset of the drive singal caused by the position skew etc. of Magnetic Sensor can be prevented according to the sine wave signal exported from 2 axial magnetic sensor circuit and above-mentioned cosine wave signal.

(10) according to a mode of the present invention, provide a kind of mensuration relative to the scrambler of first component along the position of the second component of the moving direction movement of regulation.This scrambler possesses: the first magnet body of M1 pole (M1 is the even number of more than 4), and it comprises multiple first small magnets being arranged at above-mentioned second component; Second magnet body of M2 pole (M2 is the even number of more than 2), it comprises multiple second small magnets being arranged at above-mentioned second component; One 2 axial magnetic sensor circuit, it has apart from the surface of above-mentioned first magnet body and certain is configured on above-mentioned first component with gap; 22 axial magnetic sensor circuit, it has apart from the surface of above-mentioned second magnet body and certain is configured on above-mentioned first component with gap; And position signalling generating unit, it processes the output signal of above-mentioned one 2 axial magnetic sensor circuit and above-mentioned 22 axial magnetic sensor circuit.Above-mentioned one 2 axial magnetic sensor circuit and above-mentioned 22 axial magnetic sensor circuit have 2 magnetosensitive direction of principal axis respectively.The direction that each first small magnet forming above-mentioned first magnet body intersects in the magnetosensitive face with above-mentioned one 2 axial magnetic sensor circuit is magnetized, and the direction that each second small magnet forming above-mentioned second magnet body intersects in the magnetosensitive face with above-mentioned 22 axial magnetic sensor circuit is magnetized.Above-mentioned position signalling generating unit exports according to the first magnetic deviation of above-mentioned one 2 axial magnetic sensor circuit and the second magnetic deviation of above-mentioned 22 axial magnetic sensor circuit exports, and generates and represents the position signalling of above-mentioned second component relative to the position of above-mentioned first component.

According to this scrambler, use 2 axial magnetic sensor circuit, so position detection can be carried out accurately.In addition, position signalling generating unit exports according to the first magnetic deviation of the one 2 axial magnetic sensor circuit and the second magnetic deviation of the 22 axial magnetic sensor circuit exports generation position signalling, so can carry out position detection accurately further compared with the situation of use 2 axial magnetic sensor circuit.Further, the direction that each small magnet forming each magnet body intersects in the magnetosensitive face with 2 axial magnetic sensor circuit is magnetized, so can by the stronger magnetic field of 2 axial magnetic sensor electric circuit inspection small magnets, its result, can carry out position accurately and detect.

(11) in above-mentioned scrambler, also can comprise respectively for above-mentioned one 2 axial magnetic sensor circuit and above-mentioned 22 axial magnetic sensor circuit: for measuring multiple X-axis sensor elements in the magnetic field along the above-mentioned X-axis in mutually orthogonal X-axis and Y-axis; And for measuring multiple Y-axis sensor elements in the magnetic field along above-mentioned Y-axis.

(12) in above-mentioned scrambler, also can be relatively prime integer for above-mentioned integer M1, M2 are M1/2 and M2/2, above-mentioned position signalling generating unit exports according to the first magnetic deviation of above-mentioned one 2 axial magnetic sensor and the second magnetic deviation of above-mentioned 22 axial magnetic sensor exports the above-mentioned position signalling of generation.

According to this structure, export according to the first magnetic deviation output of the one 2 axial magnetic sensor and the second magnetic deviation of the 22 axial magnetic sensor, the position of the second component relative to first component can be detected accurately.

(13) in above-mentioned scrambler, above-mentioned integer M1 equals 2 ^q+1(Q is the integer of more than 1), above-mentioned integer M2 equals 2, it is represent the digital signal of above-mentioned second component relative to the N1 position (N1 is the integer of more than 2) of the relative position of above-mentioned first component that first magnetic deviation of above-mentioned one 2 axial magnetic sensor circuit exports, it is represent the digital signal of above-mentioned second component relative to the N2 position (N2 is the integer of more than 2) of the relative position of above-mentioned first component that second magnetic deviation of above-mentioned 22 axial magnetic sensor circuit exports, the upper Q position that above-mentioned position signalling generating unit generates above-mentioned second magnetic deviation exports as above-mentioned position signalling is configured to upper, and the signal of (N1+Q) position N1 position that above-mentioned first magnetic deviation exports is configured in below above-mentioned upper Q position that above-mentioned second magnetic deviation exports.

According to this structure, undertaken combining the figure place that can increase position signalling, so the position can carrying out high precision (high resolving power) is detected by the N1 position exported upper Q position and first magnetic deviation of the second magnetic deviation output.

(14) in above-mentioned scrambler, also can for above-mentioned position signalling generating unit be when the above-mentioned first magnetic deviation output of the above-mentioned one 2 axial magnetic sensor circuit of movement along with above-mentioned second component increases together with the above-mentioned second magnetic deviation output of above-mentioned 22 axial magnetic sensor circuit, the opportunity that the maximal value exported from above-mentioned first magnetic deviation turns back to minimum value is exported with above-mentioned first magnetic deviation, with the above-mentioned upper Q position that above-mentioned second magnetic deviation exports from the consistent mode on opportunity adding 1, revise according to the above-mentioned upper Q position that above-mentioned first magnetic deviation exports above-mentioned second magnetic deviation exports, and use the above-mentioned upper Q position that above-mentioned revised above-mentioned second magnetic deviation exports, generate the above-mentioned position signalling of above-mentioned (N1+Q) position.

According to this structure, when there is the error of the degree that can not ignore during the second magnetic deviation exports, being combined by the N1 position exported upper Q position and first magnetic deviation of the second magnetic deviation output, correct position signalling can be obtained.

(15) in above-mentioned scrambler, also can be rotary body for above-mentioned second component, above-mentioned first magnet body comprises the many groups of small magnets pair be made up of 2 the first small magnets be mutually magnetized in the opposite direction, and above-mentioned many group small magnets are to the track configurations of the circle along the turning axle around above-mentioned rotary body.

(16) in above-mentioned scrambler, also can have rectangular shape for each first small magnet, each small magnet to have 2 the first small magnets and by cover above-mentioned 2 the first small magnets surrounding make the shape of the right entirety of above-mentioned small magnet become the coating member of antiparallelogram prism shape at least partially.

(17) in above-mentioned scrambler, also can be formed by strong magnetic film at least one party of above-mentioned first small magnet and above-mentioned second small magnet.

(18) according to other mode of the present invention, a kind of electromechanical assembly is provided.This electromechanical assembly possesses: scrambler, and it is connected with the rotor of above-mentioned electromechanical assembly; And control part, it controls the action of above-mentioned electromechanical assembly.

(19) can be also the AC brushless motor with 2 phase solenoids for above-mentioned electromechanical assembly, above-mentioned control part has drive singal generating unit, this drive singal generating unit, according to the above-mentioned sine wave signal of the above-mentioned one 2 axial magnetic sensor circuit output from above-mentioned scrambler and above-mentioned cosine wave signal, generates the drive singal of above-mentioned 2 phase solenoids.

The present invention also can realize in the various modes beyond device.Such as, can with scrambler, rotary encoder, method for detecting position, position of rotation detection method, the electromechanical assembly with scrambler, robot, rolling stock, realize for the mode such as computer program, the recording medium (non-transitory storage medium) recording the non-transitory of this computer program of the function of the method or device that realize them.

Accompanying drawing explanation

Fig. 1 is the structure of the rotary encoder representing the first embodiment and the key diagram of action.

Fig. 2 is the figure representing the various detection signals obtained by 2 axial magnetic sensor circuit.

Fig. 3 is the key diagram in the magnetosensitive direction of the multiple Hall elements represented in 2 axial magnetic sensor circuit.

Fig. 4 represents the circuit structure of 2 axial magnetic sensor circuit and the key diagram of action.

Fig. 5 is the key diagram of the output level representing 2 axial magnetic sensor circuit corresponding to the configuration of the 2 axial magnetic sensor circuit relative to small magnet.

Fig. 6 is the key diagram representing that the magnetic deviation exported from 22 axial magnetic sensor circuit exports.

Fig. 7 represents that the output of use 22 axial magnetic sensor circuit decides the key diagram of the position signalling generating unit of the absolute position (absolute angle) of rotary body.

Fig. 8 is the key diagram of the correction object range representing minor cycle interval value Px.

Fig. 9 is the process flow diagram of the algorithm of the correction representing minor cycle interval value Px.

Figure 10 is the key diagram representing the figure place that absolute position when changing the number of poles of the first magnet body exports.

Figure 11 is the key diagram of the structure of the rotary encoder representing the second embodiment.

Figure 12 is the key diagram of the structure of the rotary encoder representing the 3rd embodiment.

Figure 13 is the key diagram of the structure of the rotary encoder representing the 4th embodiment.

Figure 14 is the key diagram of the structure of the rotary encoder representing the 5th embodiment.

Figure 15 is the key diagram of the structure of the rotary encoder representing the 6th embodiment.

Figure 16 is the block diagram of the electrical structure of the electromechanical device representing the scrambler possessing embodiment.

Figure 17 is the block diagram of the inner structure representing main control circuit.

Figure 18 represents the inner structure of speed calculation unit and the key diagram of action.

Figure 19 is the key diagram of the robot representing the electromechanical assembly that make use of embodiment.

Figure 20 is the key diagram of the rolling stock representing the electromechanical assembly that make use of embodiment.

Embodiment

A. the first embodiment (rotary encoder)

Fig. 1 represents the structure of rotary encoder 100A as the first embodiment and the key diagram of action.As shown in Fig. 1 (A), (B), this rotary encoder 100A has the first magnet body 110 of ring-type and is configured in the second magnet body 210 of inner side of the first magnet body 110.In addition, the surface had along the periphery distance first magnet body 110 of the first magnet body 110 has certain the one 2 axial magnetic sensor circuit 130 arranged with gap and has certain the 22 axial magnetic sensor circuit 230 arranged with gap apart from the surface of the second magnet body 210.2 magnet bodies 110,210 are arranged at the roughly discoideus rotary body 400 (Fig. 1 (B)) comprising support unit 150, and 22 axial magnetic sensor circuit 130,230 are arranged at substrate 140 (Fig. 1 (A)).In addition, with the shape profiling 2 axial magnetic sensor circuit 130,230 of IC encapsulation.In addition, in Fig. 1 (B), describe the state through the visible second magnet body 210 of the 22 axial magnetic sensor circuit 230.Substrate 140 forms non-rotary fixed body (also referred to as " first component "), and rotary body 400 forms the rotary body (also referred to as " second component ") rotated around turning axle C.The nonmagnetic material material of the preferred light-duty rigidity less with moment of inertia of support unit 150 of rotary body 400 is formed, such as, preferably with formation such as aluminium, magnesium, aluminium alloy, resin, compound resins.Be provided with the first yoke parts 120 of ring-type in the inner circumferential side of the first magnet body 110, the rear side of the second magnet body 210 is provided with the second discoideus yoke parts 220.Further, the position between 2 magnet bodies 110,210 is provided with magnetic blocking parts 160.These parts 120,220,160 are parts of the leakage for reducing unnecessary magnetic flux, are preferably formed by soft-magnetic body.Wherein, part or all of these parts 120,220,160 can also be omitted.The position that this rotary encoder 100A can be applied to arbitrary rotary body is detected, and in the example of Fig. 1 (A), is connected with the turning axle 530 of electro-motor 500.

First magnet body 110 is the 64 pole magnet bodies be made up of 111ps 64 groups of small magnets that the complete cycle of the periphery spreading all over rotary body 400 is arranged.1 group of small magnet forms a magnetic pole of the first magnet body 110 to 111ps.As shown in Fig. 1 (A), each small magnet is formed 2 small magnet 111s (the first small magnet) that 111ps is configured side by side by the direction parallel along the turning axle C with rotary body 400.Fig. 1 (C) represents enlargedly observe 1 group of small magnet to a part for section during 111ps from frontal in the same manner as Fig. 1 (B), and Fig. 1 (D) represents enlargedly observe 1 group of small magnet from the side to a part for section during 111ps in the same manner as Fig. 1 (A).1 group of small magnet is made up of 2 small magnet 111s and coating member 112 with rectangular shape 111ps, and entirety has antiparallelogram prism shape.That is, in front view (Fig. 1 (C)), there is antiparallelogram shape, in outboard profile (Fig. 1 (D)), there is rectangular shape.Antiparallelogram shape when overlooking has the width W D of height H and periphery.In addition, side depending on rectangular shape there is degree of depth DP and height H.The width W D of periphery is decided by the size of the diameter of the first magnet body 110 and the number of poles M1 of the first magnet body 110.Such as, the diameter of the first magnet body 110 is being set to 30mm, its number of poles M1 is set to 64, when the height H of small magnet to 111ps is set to 5mm, be WD=1.47mm, small magnet is very little to the size of 111ps.Suppose, if so minute sized antiparallelogram prism shape entirety is wanted all to manufacture with magnet, then taper WEDM is for this reason very difficult.Therefore, in the present embodiment, by covering 2 small magnet 111s of rectangular shape with coating member 112, forming entirety is that the small magnet of antiparallelogram prism shape is to 111ps.Coating member 112 covers the surrounding of 2 small magnet 111s of rectangular shape at least partially, and, be the parts arranged to make the shape of small magnet to the entirety of 111ps become antiparallelogram shape.As the material of coating member 112, consider difficulty or ease and the permanance of processing, the nonmagnetic material such as aluminium, resin material can be utilized.

As shown in Fig. 1 (D) amplifies, each small magnet 111s along with from turning axle C by parallel direction, the direction (i.e. radial direction) at the center of each small magnet 111s by parallel magnetization.In addition, form each small magnet to be in the opposite direction magnetized each other to 2 of 111ps small magnet 111s.As shown in Fig. 1 (E), by arranging multiple small magnet to 111ps in the periphery of rotary body 400, the first magnet body 110 of multipole easily can be made.Such as, by being arranged in circular to 111ps by 64 small magnets, the first magnet body 110 of 64 poles can be formed.In the structure shown here, small magnet can be understood to the track configurations of 111ps along the circle of the turning axle C around rotary body 400.In addition, as shown in Fig. 1 (A), preferably by the center configuration of the one 2 axial magnetic sensor circuit 130 by forming on track that the straight line (i.e. the border of 2 small magnet 111s) of each small magnet to the centre of 2 of 111ps small magnet 111s advance.

Second magnet body 210 is by the inner side at the first magnet body 110, and the small magnet 211s (the second small magnet) being configured in 2 semicircle tabulars of the surrounding of the turning axle C of rotary encoder 100A is formed, and is the 2 pole magnet bodies that entirety has circular plate shape.The direction of magnetization of each small magnet 211s of the second magnet body 210 is directions parallel with turning axle C, and 2 small magnet 211s are in the opposite direction magnetized.The preferably position of the center configuration of the second magnet body 210 on the turning axle C of rotary body 400.In addition, the center of the 22 axial magnetic sensor circuit 230 is configured in the position on the turning axle C of rotary body 400.

In addition, also small magnet 111s can be only called " magnet 111s ", small magnet is called " magnet is to 111ps " 111ps, magnet body 110 is called " magnet aggregate 110 ".For small magnet 211s, small magnet to 211ps and magnet body 210 also identical.

Fig. 2 be represent obtained by 2 axial magnetic sensor circuit 130 various detection signal sin θ m, cos θ m, D1 figure.In addition, structure, the action of 22 axial magnetic sensor circuit 130,230 are identical, thus below main with the one 2 axial magnetic sensor circuit 130 for object is described.The transverse axis of the coordinate diagram of Fig. 2 is the rotation angle θ r of rotary encoder 100A (i.e. rotary body).Also this rotation angle θ r is called " mechanical angle ".Along the magnetic field of the circumferencial direction of the first magnet body 110, represent with 2 adjacent small magnets to be the sinuous change in 1 cycle to 111ps.The position in every 1 cycle in this magnetic field is represented by magnetic deviation θ m.Signal sin θ m shown in the top of Fig. 2, cos θ m are the sine wave signal corresponding to this magnetic deviation θ m and cosine wave signal.Wherein, in fig. 2, for the ease of diagram, the example that the first magnet body 110 is situations of 8 poles is shown with.Signal D1 shown in the bottom of Fig. 2 is from 0 to the signal that changes of maximal value rectilinearity ground in each cycle of magnetic deviation θ m, is that the magnetic deviation exporting external circuit to from 2 axial magnetic sensor circuit 130 exports D1.Magnetic deviation is exported D1 and such as can be decoded by offset of sinusoidal ripple signal sin θ m and cosine wave signal cos θ m and generate.

Fig. 3 represents the arrangement example of multiple Hall elements that the inside of 2 axial magnetic sensor circuit 130 comprises and the key diagram in their magnetosensitive direction.Here, as the direction parallel with the surface of 2 axial magnetic sensor circuit 130, mutually orthogonal X-direction and Y direction is described.Z-direction is orthogonal with X-direction and Y direction, is the direction parallel with the direction of magnetization of small magnet 111s (or 211s).In addition, as the magnetosensitive direction detection side of the magnetic line of force (to) of Hall element, the direction from S pole towards N pole is shown with arrow.The white circle comprising black circle in inside represents that the direction from the rear side of paper towards face side is magnetosensitive direction.In addition, the white circle comprising " X " in inside represents that the direction from the face side of paper towards rear side is magnetosensitive direction.

The 2 axial magnetic sensor circuit 130 of Fig. 3 (A) have X-direction 2 X-axis Hall elements X1, X2 as magnetosensitive direction, and using Y direction 2 Y-axis Hall elements Y1, Y2 as magnetosensitive direction.In addition, the number of X-axis Hall element is preferably multiple, is not limited to 2 and also can be more than three.This point is also identical for Y-axis Hall element.As described later, generate the first magnetic deviation signal sin θ m by multiple X-axis Hall element X1, X2, generate the second magnetic deviation signal cos θ m by multiple Y-axis Hall element Y1, Y2.This point is describing more below.

The 2 axial magnetic sensor circuit 130 of Fig. 3 (B) have first group of Hall element YX1, YX2, and second group of Hall element XY1, XY2.These 2 groups of Hall elements using the direction of 45 degree of tilting relative to X-direction and Y direction as magnetosensitive direction.The 2 axial magnetic sensor circuit 130 of Fig. 3 (C) have 2 Y-axis Hall elements Y1, Y2, and 2 X-axis Hall elements X1, X2.The circuit of Fig. 3 (C) is at the magnetosensitive direction point opposite each other of 2 Y-axis Hall element Y1, Y2 and 2 X-axis Hall elements X1, X2, different from the circuit of Fig. 3 (A).The 2 axial magnetic sensor circuit 130 of Fig. 3 (D) have 4 Y-axis Hall elements Y1a, Y1b, Y2a, Y2b, and 4 Z axis Hall elements Z1a, Z1b, Z2a, Z2b.When using the 2 axial magnetic sensor circuit 130 of Fig. 3 (D), if the output of 2 of top Y-axis Hall elements Y1a, Y1b is added, 2 of below Y-axis Hall elements Y2a, Y2b are added, then can obtain the output with the output equivalence of 2 Y-axis Hall elements Y1, Y2 of Fig. 3 (A).Also identical for Z axis Hall element Z1a, Z1b, Z2a, Z2b.Even if any one of the 2 axial magnetic sensor circuit 130 of use Fig. 3 (B) ~ (D), by synthesizing the output of the plurality of Hall element, also can generate magnetic deviation signal sin θ m, cos θ m.In addition, can understand from these examples, 2 axial magnetic sensor circuit 130 are the circuit in the magnetic field can detected along orthogonal 2 directions.In addition, in 2 axial magnetic sensor circuit 130, multiple X-axis sensor element can be configured to and comprise the first group of X-axis Hall element and the second group of X-axis Hall element that are configured in the position be separated from each other along X-axis, equally, multiple Y-axis sensor element comprises the first group of Y-axis Hall element and the second group of Y-axis Hall element that are configured in the position be separated from each other along Y-axis.In addition, the center of 2 axial magnetic sensor circuit 130 is consistent with the middle position between these multiple Hall elements.

Fig. 4 represents the circuit structure of 2 axial magnetic sensor circuit 130 and the key diagram of action.Here, the structure of the Hall element shown in Fig. 3 (A) is used.2 axial magnetic sensor circuit 130 except X-axis Hall element X1, X2 and Y-axis Hall element Y1, Y2, also have amplifying circuit 131,132, A/D convertor circuit 133,134 and signal processing circuit 135.Input the output of 2 X-axis Hall elements X1, X2 to the first amplifying circuit 131, input the output of 2 Y-axis Hall elements Y1, Y2 to the second amplifying circuit 132.As shown in Fig. 4 (B), the output of 2 X-axis Hall elements X1, X2 is the signal of primary sinusoid shape respectively.In addition, the output of 2 Y-axis Hall elements Y1, Y2 is the signals of the second sinusoidal wave shape (cosine is wavy) that deviate from 90 degree of phase places from the primary sinusoid.First amplifying circuit 131 is configured to the differential amplifier of the difference (X1-X2) of the output of getting 2 X-axis Hall elements X1, X2.Its reason is because in the contrary mode of the positive and negative symbol of the output being input to 2 X-axis Hall elements X1, X2 of the first amplifying circuit 131, forms the circuit of Hall element X1, X2, wiring.In the example of Fig. 4 (B), the output of 2 X-axis Hall elements X1, X2 is depicted as the contrary and signal that absolute value is equal of symbol.Wherein, according to the position of magnetic pole of the setting position of 2 axial magnetic sensor circuit 130, the flux distortions of magnet, also there is the situation that the absolute value of the output of these 2 X-axis Hall elements X1, X2 is mutually different.But, in this case, by getting the difference (X1-X2) of the output of 2 X-axis Hall elements X1, X2 in the first amplifying circuit 131, no matter the deviation of the position of magnetic pole of the setting position of 2 axial magnetic sensor circuit 130, the flux distortions of magnet how, can both obtain the correct sinewave output corresponding to magnetic deviation θ m.These points, about Y-axis Hall element Y1, Y2 and the second amplifying circuit 132 also identical.Like this, sine wave signal (X1-X2) can be generated by the difference of the output signal of getting multiple X-axis Hall element, generate the cosine wave signal (Y1-Y2) with sine wave signal (X1-X2) phase 90 degree by the difference of the output signal of getting multiple Y-axis Hall element.In addition, can based on sine wave signal (X1-X2) and cosine wave signal (Y1-Y2), the magnetic deviation generating the position (position of rotation) representing rotary body exports D1.

In addition, being input to the output of 2 X-axis Hall elements X1, X2 of the first amplifying circuit 131, also can be the signal that sign symbol is identical.Now, the first amplifying circuit 131 is configured to summing amplifier.Wherein, if the first amplifying circuit 131 is configured to differential amplifier, then in 2 output signals X1, X2, include shared noise (such as, high frequency noise along with the PWM of solenoid controls) when, noise this point can also be reduced by the difference (X-X2) of getting them also preferred.These points are also identical in the second amplifying circuit 132.

Output (X1-X2), (Y1-Y2) of these amplifying circuits 131,132 are converted to digital signal by A/D convertor circuit 133,134 respectively, and become magnetic deviation signal sin θ m, cos θ m.Signal processing circuit 135, by carrying out the decoding computing based on these magnetic deviation signals sin θ m, cos θ m, generates the magnetic deviation shown in Fig. 2 and exports D1.Signal processing circuit 135 utilizes magnetic deviation to export D1 further, generates 2 phase pulse signal Pa, Pb shown in Fig. 4 (C) and periodic signal Z.

2 phase pulse signal Pa, Pb and periodic signal Z, such as, generated by following mode.Magnetic deviation output D1 is the signal with multiple bit representation magnetic deviation θ m.Such as, when magnetic deviation being exported D1 and being configured to 12 signals, during magnetic deviation θ m changes to 2 π from 0, the value rectilinearity ground that magnetic deviation exports D1 changes to 4095 (=2 from 0 ¹²-1).2 phase pulse signal Pa, Pb are signals that phase place deviate from 90 degree mutually, are the signals that A phase exports and B phase exports of the incremental encoder being equivalent to optical profile type.Periodic signal Z is the signal that magnetic deviation θ m often changes that 2 π just produce 1 pulse, is the signal of the Z phase signals of the incremental encoder being equivalent to optical profile type.Such as, A phase pulse signal Pa is generated as the signal of the change representing the 2nd from the lowermost position of magnetic deviation output D1.In addition, B phase pulse signal Pb is generated as the signal of the XOR (XOR) of 2 of the lowermost position of having got angle signal D1.Periodic signal Z is generated as the signal of all positions of having got angle signal D1 or non-(NOR).When angle signal D1 is the signal of 12, during magnetic deviation θ m changes 2 π, produce the pulse of 1024 2 phase pulse signals Pa, Pb.

Signal processing circuit 135 can export angle signal D1, sine wave signal sin θ m, cosine wave signal cos θ m, 2 phase pulse signal Pa, Pb and periodic signal Z to outside.Some using the device of rotary encoder 100A can use in these signals come that executing location controls, speeds control.

But, as described in FIG, each small magnet 111s being configured to the first magnet body 110 is being magnetized by the direction that the direction at the center of each small magnet 111s is parallel with from turning axle C, and the one 2 its Z axis of axial magnetic sensor circuit 130 (Fig. 3) is parallel with the direction of magnetization of small magnet 111s.In addition, each small magnet 211s being configured to the second magnet body 210 is magnetized in the direction parallel with turning axle C, and the 22 its Z axis of axial magnetic sensor circuit 230 is parallel with the direction of magnetization of small magnet 211s.The reason of such configuration is adopted to be the experimental result considering following explanation.

Fig. 5 is the key diagram of the output level representing 2 axial magnetic sensor circuit corresponding to the configuration of the 2 axial magnetic sensor circuit relative to small magnet.As shown in Fig. 5 (A), here, the periphery of discoideus support unit 150 is provided with multiple small magnet 111s.Wherein, for the ease of diagram in Fig. 5 (A), be only shown with the part (part with central angle 45 degree) suitable with 1/8 of entirety, be provided with 8 small magnet 111s.Fig. 5 (B) is the cut-open view of Fig. 5 (A), is shown with the section of a small magnet 111s.The direction of magnetization of each small magnet 111s is parallel towards the direction at the center of each small magnet 111s (namely radial) with from turning axle C.In this experiment, configure 2 axial magnetic sensor circuit 130 at first SP1 and second SP2 that locates that locates, in each position, SP1, SP2 determine magnetic field respectively.Be the position that deviate from 0.5mm from the surface of multiple small magnet 111s upward with first SP1 that locates, the plane specified by 2 magnetosensitive direction of principal axis (X of Fig. 4, Y direction) of 2 axial magnetic sensor circuit 130 mode parallel with the direction of magnetization of small magnet 111s is provided with 2 axial magnetic sensor circuit 130.In addition, " surface specified by 2 magnetosensitive direction of principal axis " is equivalent to the magnetosensitive face of 2 axial magnetic sensor circuit 130.In addition, the magnetosensitive face of 2 axial magnetic sensor circuit 130 also may be prescribed as the face parallel with the surface of the magnetic be arranged in 2 axial magnetic sensor circuit 130.Be the position that deviate from 0.5mm from the periphery of multiple small magnet 111s with second SP2 that locates, the mode that the magnetosensitive face of 2 axial magnetic sensor circuit 130 is orthogonal with the direction of magnetization of small magnet 111s is provided with 2 axial magnetic sensor circuit 130.Fig. 5 (C) represents the output level of these 2 the 2 axial magnetic sensor circuit 130 in SP1, SP2 that locate.Can understand thus, second locate magnetic field that SP2 detects intensity with first locate magnetic field that SP1 detects intensity compared with very high.Therefore, 2 axial magnetic sensor circuit 130 are preferably arranged in the mode that its magnetosensitive face is orthogonal with the direction of magnetization of small magnet 111s.In other words, preferred small magnet 111s is magnetized in the direction orthogonal with the magnetosensitive face of 2 axial magnetic sensor circuit 130.If like this, the signal level of 2 axial magnetic sensor circuit 130 increases further, so can improve the estimating precision of rotary encoder 100A further.In addition, the direction of magnetization of small magnet 111s is without the need to orthogonal with the magnetosensitive face of 2 axial magnetic sensor circuit 130, but the direction preferably intersected with the magnetosensitive face of 2 axial magnetic sensor circuit 130, more preferably orthogonal with magnetosensitive face direction.

Fig. 6 represents that the first magnetic deviation exported from the one 2 axial magnetic sensor circuit 130 exports D1 and exports the key diagram of the example of D2 from the second magnetic deviation that the 22 axial magnetic sensor circuit 230 exports.The transverse axis of Fig. 6 is mechanical angle θ r, and the longitudinal axis is that the magnetic deviation of 22 axial magnetic sensor circuit 130,230 exports D1, D2.Wherein, in figure 6, for the ease of diagram, the example that the first magnet body 110 is 8 poles is shown with.When the first magnet body 110 is 8 pole, rotate 1 week (mechanical angle is 360 degree) period at the support unit 150 of rotary encoder 100A, the minor cycle producing 4 the first magnet bodies 110 is interval.Here, so-called " minor cycle is interval " means, the magnetic deviation θ m of the first magnet body 110 changes the interval of 360 degree (2 π).Minor cycle interval value Px shown in Fig. 6 (A) is the value for distinguishing these 4 minor cycle intervals, gets 0 to 3 these 4 values.As described later, this minor cycle interval value Px exports according to the magnetic deviation of the 22 axial magnetic sensor circuit 230 and generates.In addition, when the first magnet body 110 is 64 pole, during the support unit 150 of rotary encoder 100A rotates 1 week, the minor cycle producing 32 the first magnet bodies 110 is interval.Wherein, in figure 6, if the support unit 150 being depicted in rotary encoder 100A rotates the figure in the minor cycle interval producing 32 the first magnet bodies 110 during 1 week, become exceedingly careful figure, so here for the ease of diagram, use the figure simplified.

In the example of fig. 6, the magnetic deviation of 2 axial magnetic sensor circuit 130,230 exports D1, D2 by 12 formations, and magnetic deviation output D1, D2 get the value during 0 ~ 4095.Wherein, usually, the first magnetic deviation of the one 2 axial magnetic sensor circuit 130 can be made to export the digital signal that D1 becomes N1 position (N1 is the integer of more than 2), the second magnetic deviation of the 22 axial magnetic sensor circuit 230 can be made to export the digital signal that D2 becomes N2 position (N2 is the integer of more than 2).Here, figure place N1, N2 can be identical values, also can be different values.

The first magnetic deviation shown in Fig. 6 (B) exports the change of magnetic deviation that D1 represents the rotation with the first magnet body 110, represents during mechanical angle θ r changes 360 degree, repeatedly the jagged change of the generation 4 times value from 0 to 4095.That is, represent that the first magnetic deviation exports D1 during each minor cycle interval, be increased to the linear change of 4095 from 0.On the other hand, the second magnetic deviation shown in Fig. 6 (A) exports the change of magnetic deviation that D2 represents the rotation with the second magnet body 210, represent only to produce during mechanical angle θ r changes 360 degree 1 time from 0 to 4095 the linear change of value.Upper 2 potential energy that second magnetic deviation exports D2 enough uses as the minor cycle interval value Px shown in Fig. 6 (A).

Minor cycle interval value Px is used for the absolute position determining mechanical angle θ r accurately.Mechanical angle θ r only exports D2 from the second magnetic deviation just can with the accuracy detection of 12.But, if use minor cycle interval value Px and the first magnetic deviation to export D1 both sides, then more can determine to high precision (high resolving power) absolute position of mechanical angle θ r.Specifically, in the example of fig. 6, minor cycle interval value Px is 2, and it is 12 that the first magnetic deviation exports D1, so use this two enough can detect mechanical angle θ r with the precision of 14 (resolution).

Fig. 7 represents that the output of use 22 axial magnetic sensor circuit 130,230 decides the key diagram of the position signalling generating unit 300 of the absolute position (absolute angle) of rotary body.Position signalling generating unit 300 exports D1, D2 to the magnetic deviation of 22 axial magnetic sensor circuit 130,230 and synthesizes, and generates absolute position and exports Dabs.Fig. 7 (B) is shown with the contents processing of position signalling generating unit 300.In this example embodiment, the first magnetic deviation exports the signal of 12 that D1 is the position M11 from the position M0 of lowermost position to most significant digit, and the second magnetic deviation exports the signal of 12 that D2 is also the position S11 from the position S0 of lowermost position to most significant digit.Upper 2 S11, S10 that second magnetic deviation exports D2 are used as minor cycle interval value Px.The upper 2 that absolute position exports Dabs is minor cycle interval value Px, and the next 12 is that the first magnetic deviation exports D1.It is with the signal of the value of the mechanical angle θ r of the accuracy representing of 14 that this absolute position exports Dabs.

In addition, in the present embodiment, 2 axial magnetic sensor circuit 130,230 use multiple Hall element (example with reference to Fig. 3) respectively.Therefore, when the electric power starting of 2 axial magnetic sensor circuit 130,230, can according to the absolute position of the rotary body in this moment (mechanical angle θ r), obtain the magnetic deviation shown in Fig. 6 and export D1, D2, and can export according to these magnetic deviations the absolute position (mechanical angle θ r) that D1, D2 decide rotary body.Therefore, have when the power-off of 2 axial magnetic sensor circuit 130,230, without the need to storing the absolute position (value of mechanical angle θ r) of the rotary body in this moment, only export D1, D2 according to 2 magnetic deviations obtained when electric power starting, the advantage of the absolute position of rotary body when just can know power-off.

But in the example of fig. 6, the border that the first magnetic deviation exports the minor cycle interval of D1 is consistent with the change location of the value exporting the minor cycle interval value Px that D2 obtains according to the second magnetic deviation.But, in the circuit of reality, there is the possibility producing the fault that both disagree because of certain error.In order to prevent such fault, preferably with the increase along with mechanical angle θ r, the first magnetic deviation exports D1 and turns back to the opportunity of minimum value 0 from maximal value D1max, certainly to add the consistent mode on opportunity of 1 with minor cycle interval value Px (namely the second magnetic deviation exports the upper 2 of D2) position signalling generating unit 300, carries out the correction of minor cycle interval value Px.

Fig. 8 is the key diagram of the correction object range representing the minor cycle interval value Px undertaken by position signalling generating unit 300.In the below of figure, be shown with the jagged change that the first magnetic deviation exports D1, be shown with hachure the width (width of above-below direction) that the second magnetic deviation exports the error of D2 up.First magnetic deviation exports D1 changing in the scope of maximal value D1max from its minimum value 0, after reaching maximal value D1max, turns back to minimum value 0.If first magnetic deviation export D1 from maximal value D1max turn back to minimum value 0 opportunity, export with the second magnetic deviation D2 upper 2 oneself add 1 opportunity consistent, then as shown in Fig. 7 (B), the second magnetic deviation exports upper 2 potential energy of D2 and enough keeps intact and to use as minor cycle interval value Px.On the other hand, when departing from both opportunitys, the correction of minor cycle interval value Px is carried out.What need the correction of minor cycle interval value Px is that the first magnetic deviation exports D1 from the scope R1 after maximal value D1max turns back to the opportunity of the minimum value 0 and scope R3 before this opportunity.In the scope R2 of the centre of these 2 scope R1, R3, the value that the second magnetic deviation exports the upper 2 of D2 represents as the correct value of minor cycle interval value Px, so do not have the necessity revised.

Fig. 9 is the process flow diagram of an example of the algorithm of the correction representing minor cycle interval value Px.This correction is undertaken by position signalling generating unit 300 (Fig. 7).In the step s 100, figure place N1, the second magnetic deviation output figure place N2 of D2 and the figure place Nx of minor cycle interval value Px of the first magnetic deviation output D1 are set.In addition, also to Parameter N ss (=N2-Nx), D1max (=2 ⁿ¹-1) set.In the present embodiment, N1=N2=12, Nx=2, Nss=10, D1max=4095.

In step s 110, position signalling generating unit 300 receives magnetic deviation from 22 axial magnetic sensor circuit 130,230 (Fig. 7) and exports D1, D2.In the step s 120, judge first magnetic deviation export D1 be in the scope R1 of 3 shown in Fig. 8, R2, R3 which.In the example of figure 9, first scope R1 is set to 0≤D1≤(D1max/4), second scope R2 is set to (D1max/4) < D1 < (D1max*3/4), the 3rd scope R3 is set to (D1max*3/4)≤D1≤D1max.In the first scope R1 and the 3rd scope R3, in order to revise minor cycle interval value Px, perform the correction that the second magnetic deviation exports D2.

As the step S130 ~ S150 of the execution operation revised, implement based on following idea.

(1) when the first magnetic deviation export D1 be in the first scope R1, there is the possibility becoming a less value by the minor cycle interval value Px mistake of upper 2 bit representations of the second magnetic deviation output D2.Therefore, in order to get rid of this possibility, the maximal value (=2 of the next Nss bit representation of D2 will be exported with the second magnetic deviation ^nss) the value of half export D2 with the second magnetic deviation and be added, its upper Nx position is used (step S130, S150) as minor cycle interval value Px.

(2) when the first magnetic deviation output D1 is in the second scope R2, the upper 2 of the second magnetic deviation output D2 is kept intact as minor cycle interval value Px and uses (step S150).

(3) when the first magnetic deviation export D1 be in the 3rd scope R3, there is the possibility becoming a larger value by the minor cycle interval value Px mistake of upper 2 bit representations of the second magnetic deviation output D2.Therefore, in order to get rid of this possibility, export from the second magnetic deviation the maximal value (=2 deducting the next Nss bit representation exporting D2 with the second magnetic deviation D2 ^nss) the value of half, its upper Nx position is used (step S140, S150) as minor cycle interval value Px.

By carrying out such correction, the border in minor cycle interval of the D1 mode always consistent with the change moment of minor cycle interval value Px can be exported with the first magnetic deviation, deciding minor cycle interval value Px.According to the calculating of inventor, if the second magnetic deviation exports the magnetic deviation error of D2 is ± 2 ^n1-Nx-2below, then correct minor cycle interval value Px can be obtained by above-mentioned correction.Such as, when N1=12, Nx=2, permissible error is ± 2 ⁸=± 256.Can understand this permissible error very large, so very large for the patience of error, be very effective correction in practical.Wherein, if the error of magnetic deviation output D1, D2 is the error of the degree that can ignore, then without the need to the correction of minor cycle interval value Px.

In addition, the scope R1 of needs correction, the minimum widith of R3 export the mistake extent of D1, D2 along with magnetic deviation and change.Therefore, it is possible to these 3 scope R1 ~ R3 are set as the scope from above-mentioned different regulation respectively.Wherein, preferably 3 scope R1 ~ R3 are the non-vanishing scope of width respectively.In addition, the scope R1, the R3 that are preferably in the both sides on the border in minor cycle interval are identical width.

Like this, the second magnetic deviation that position signalling generating unit 300 exports D1 and the 22 axial magnetic sensor circuit 230 according to the first magnetic deviation of the one 2 axial magnetic sensor circuit 130 exports D2, generates the position signalling (absolute position exports Dabs) of the absolute position (mechanical angle θ r) representing rotary body.If use this position signalling Dabs, then can decide position with high precision (high resolving power) compared with 2 axial magnetic sensor circuit 130 (or 230).In addition, as mentioned above, in the present embodiment, 2 axial magnetic sensor circuit 130,230 use multiple Hall element, so can only export D1, D2 from 2 magnetic deviations obtained when the electric power starting of 2 axial magnetic sensor circuit 130,230, the absolute position of rotary body when power-off is known in direct-reading.

In addition, the number of poles of the first magnet body 110 is being set to M1, when the number of poles of the second magnet body 210 is set to M2, preferably M1, M2 is being set to even number respectively, particularly, preferably M1 is being set to the even number of more than 4, M2 is set to the even number of more than 2.Like this, compared with the situation of a use magnet body, more precisely can carry out position detection.

In addition, preferably the number of poles M1 of the first magnet body 110 and number of poles M2 of the second magnet body 210 is the relatively prime integers of M1/2 and M2/2.Here, 2 integers " relatively prime " mean, both do not have the approximate number shared beyond 1.If M1/2 and M2/2 becomes relatively prime integer, the position that then border in the interval (minor cycle of Fig. 6 is interval) of magnetic deviation 2 π of the first magnet body 110 is consistent with the border in the interval of magnetic deviation 2 π of the second magnet body 210 is only the position of mechanical angle θ r=0, so can export according to 2 magnetic deviations the absolute value that D1, D2 determine mechanical angle θ r.In addition, in the example of Fig. 6 and Fig. 7, M1=8=2 ³, M2=2.In addition, in the rotary encoder 100A shown in Fig. 1, M1=64=2 ⁶, M2=2.

Usually, in order to the numerical digit the second magnetic deviation being exported the upper of D2 utilizes as minor cycle interval value Px, preferably the number of poles M1 of the first magnet body 110 is set as 2 ^q+1(Q is the integer of more than 1), is set as 2 by the number of poles M2 of the second magnet body 210.Now, position signalling generating unit 300 exports Dabs generation as absolute position and the upper Q position that the second magnetic deviation exports D2 is configured in upper, and in its lower section, be configured with the signal that the first magnetic deviation exports (N1+Q) position of the full position (N1 position) of D1.Such as, in the example of Fig. 6, Fig. 7, N1=12, Q=2, so absolute position exports the signal that Dabs is 14.

Figure 10 represents that absolute position when changing the number of poles M1 of the first magnet body 110 exports the key diagram of the figure place of Dabs.In this example embodiment, the figure place 2 magnetic deviations being exported D1, D2 is all assumed to 12.If the number of poles M1 of the first magnet body 110 changes, then the generation number change in the minor cycle interval that often rotates a circle of the rotary body 400 of rotary encoder 100A thus, so the figure place Q of minor cycle interval value Px also changes thus.As mentioned above, absolute position exports the figure place of Dabs is the value (N1+Q) that figure place N1 that the first magnetic deviation exports D1 adds the figure place Q gained of minor cycle interval value Px.

Like this, the direction that each small magnet 111s that the first magnet body 110 of the rotary encoder 100A of the first embodiment comprises intersects in the magnetosensitive face with 2 axial magnetic sensor circuit 130 is magnetized, so 2 axial magnetic sensor circuit 130 can detect stronger magnetic field, its result, can obtain the higher magnetic deviation of resolution and export D1.In addition, 2 axial magnetic sensor circuit 130 have multiple X-axis Hall element X1, X2 and multiple Y-axis Hall element Y1, Y2, generate magnetic deviation according to the output signal of these Hall elements and export D1, so relative to the first magnet body 110, when the setting position of 2 axial magnetic sensor circuit 130 departs from a bit, also can obtain magnetic deviation accurately and export D1.These unique points are also identical for the second magnet body the 210 and the 22 axial magnetic sensor circuit 230.

And, in the first embodiment, the second magnetic deviation that position signalling generating unit 300 exports D1 and the 22 axial magnetic sensor circuit 230 according to the first magnetic deviation of the one 2 axial magnetic sensor circuit 130 exports D2 generation position signalling Dabs, so more precisely can carry out position detection compared with only using the situation of 2 axial magnetic sensor circuit.

B. the second to six embodiment (rotary encoder)

Figure 11 is the key diagram of the structure of the rotary encoder 100B represented as the second embodiment.The point that this rotary encoder 100B is different from the rotary encoder 100A (Fig. 1) of the first embodiment is the first magnet body 110 is not the periphery being arranged on rotary body 400, but be arranged on the point on the surface of rotary body 400, and, the point that the configuration of the one 2 axial magnetic sensor circuit 130 is changed according to the position of the first magnet body 110.That is, in the rotary encoder 100B of the second embodiment, the small magnet of the first magnet body 110 is formed to the radial array of 2 of 111ps small magnet 111s along rotary body 400.In addition, each small magnet 111s is magnetized in the direction that the turning axle C with rotary body 400 is parallel.In addition, the one 2 axial magnetic sensor circuit 130 configures in the mode that its Z-direction is consistent with the direction of magnetization of these small magnets 111s.In addition, the second embodiment can be understood at many group small magnets to the point of 111ps along the track configurations of the circle around the turning axle C of rotary body 400, shared with the first embodiment.In addition, be configured at the center of the one 2 axial magnetic sensor circuit 130 and also shared with the first embodiment by the point formed on track that the straight line of each small magnet to the centre between 2 of 111ps small magnet 111s advance.In addition, the second magnet body 210 is identical with the first embodiment with the configuration of the 22 axial magnetic sensor circuit 230.In the rotary encoder 100B of the second embodiment, can configure 22 axial magnetic sensor circuit 130,230 at grade side by side, so the first embodiment is compared, the setting of 2 axial magnetic sensor circuit 130,230, the winding of wiring are easy to.

Figure 12 is the key diagram of the structure of the rotary encoder 100C represented as the 3rd embodiment.The point that this rotary encoder 100C is different from the rotary encoder 100B (Figure 11) of the second embodiment is only the second magnet body 210 is not discoideus, but rectangular-shaped point, other the structure comprising the rotary body 400 of the first magnet body 110 is identical with the second embodiment.In the rotary encoder 100C of the 3rd embodiment, the second magnet body 210 is rectangular-shaped, so have it to manufacture easier advantage.

Figure 13 is the key diagram of the structure of the rotary encoder 100D represented as the 4th embodiment.The point that this rotary encoder 100D is different with the rotary encoder 100B (Figure 11) of the second embodiment is only that the small magnet of formation first magnet body 110 is not close to (or contact) mutually to 2 of 111ps small magnet 111s, but the point be separated, other the structure comprising the rotary body 400 of the second magnet body 210 is identical with the second embodiment.In the rotary encoder 100D of the 4th embodiment, by at least one party of the distance that adjusts between 2 small magnet 111s and the material that is arranged on the parts between 2 small magnet 111s, by the shape of the detection signal sin θ m of the one 2 axial magnetic sensor circuit 130, cos θ m (Fig. 2), the shape closer to sine wave can be adjusted to.

Figure 14 is the key diagram of the structure of the rotary encoder 100E represented as the 5th embodiment.The point that this rotary encoder 100E is different from the rotary encoder 100B (Figure 11) of the second embodiment is only the point that the second magnet body 210 is made up of 211ps 2 groups of small magnets, and other the structure comprising the rotary body 400 of the first magnet body 110 is identical with the second embodiment.The entirety of the second magnet body 210 is hollow cylindricals, and the small magnet of each group is semi-circular cylindrical to 211ps.In addition, forming small magnet is also semi-circular cylindrical to 2 of 211ps small magnet 211s.The direction of magnetization of each small magnet 211s is the direction parallel with the turning axle C of rotary body 400, and 2 small magnet 211s are magnetized at mutual reverse direction.The number of poles of this second magnet body 210 is 2.Wherein, if reduce small magnet further to the angle of the circular arc of 211ps, the small magnet increasing the second magnet body 210 forming hollow cylindrical to the number of 211ps, then at random can change the number of poles of the second magnet body 210.

Figure 15 is the key diagram of the structure of the rotary encoder 100F represented as the 6th embodiment.This rotary encoder 100F has around the support unit 150 of hollow cylindrical, is configured with the structure of 2 magnet bodies 110,210 of the ring-type in same footpath along the direction parallel with turning axle C side by side.In the inner circumferential of 2 magnet bodies 110,210, be respectively arranged with yoke parts 120,220.In addition, between 2 magnet bodies 110,210, magnetic blocking parts 160 is provided with.At substrate 140, at the outer peripheral face relative to 2 magnet bodies 110,210, the position in gap of regulation is provided with 2 axial magnetic sensor circuit 130,230.

First magnet body 110 is made up of 111ps 8 groups of small magnets, and its number of poles M1 is 8.Second magnet body 210 is made up of 211ps 2 groups of small magnets, and its number of poles M2 is 2.Wherein, these numbers of poles M1, M2, as illustrated in Fig. 10, can be set as various integer.The direction of magnetization of each small magnet 111s, 211s of 2 magnet bodies 110,210 be with from turning axle C by parallel direction, the direction (radial direction) at the center of each small magnet 111s, 211s.This direction of magnetization is parallel with the Z-direction of 2 axial magnetic sensor circuit 130,230.Other structure, action and the structure illustrated in the first to the 5th embodiment, action are identical.

Rotary encoder 100B ~ the 100F of the second to the 6th embodiment also has the effect identical with the first embodiment.Suitably 2 magnet bodies 110,210 of discoideus rotary body 400 can be arranged at by choice for use as the first to the 5th embodiment by the purposes of rotary encoder, the restriction in space, or, use 2 magnet bodies 110,210 in the same footpath being arranged at cylindric rotary body (support unit 150) as the 6th embodiment.Such as, when wanting the space matching rotary encoder to external diameter is less, the 6th embodiment one side is more favourable to the 5th embodiment than first.

C. the 7th embodiment (possessing the electromechanical assembly of rotary encoder)

Figure 16 is the block diagram of the electrical structure representing the electro-motor 500 possessed as the rotary encoder of embodiments of the present invention.As the motor part of electro-motor 500, describe solenoid 522A, 522B of there being the amount of rotor 510 and 2 phase.Solenoid 522A, 522B are arranged at not shown stator.The turning axle 530 of electro-motor 500 is connected with the rotary encoder 100 comprising 22 axial magnetic sensor circuit 130,230.As this rotary encoder 100, the rotary encoder of the first to the 6th above-mentioned embodiment can be utilized.Control part 600 has drive singal generating unit 620A, the 620B of amount of main control circuit 610,2 phase and driving circuit 630A, 630B of the amount of 2 phases.To main control circuit 610, the output signal D2 of the supply output signal D1 of the one 2 axial magnetic sensor circuit 130, Pa, Pb, Z (with reference to Fig. 4) and the 22 axial magnetic sensor circuit 230, based on these signals, executing location controls, speeds control.Inner structure for main control circuit 610 is aftermentioned.Drive singal generating unit 620A, the 620B of the amount of 2 phases are from 2 axial magnetic sensor circuit 130, accept to represent sinusoidal wave and cosine wave (CW) digital signal sin θ m, cos θ m, generated the drive singal of the amount of 2 phases by the PWM control performed based on these digital signal sin θ m, cos θ m.These drive singal are supplied to driving circuit 630A, 630B respectively.Driving circuit 630A, 630B are so-called bridge driver circuit.By controlling based on the PWM of sinuous digital signal sin θ m, cos θ m method, its circuit structure of generating the drive singal of the amount of 2 phases, such as, the circuit (removing AD conversion portion) represented by Figure 10 of Japanese Unexamined Patent Publication 2008-17678 publication disclosed in the applicant can be utilized.In addition, in the present embodiment, the sine wave signal sin θ m that exports from 2 axial magnetic sensor circuit 130 and cosine wave signal cos θ m is used to generate the drive singal of the amount of 2 phases, so compared with the situation of use 2 Magnetic Sensors, preferred at the point of the phase offset not producing the drive singal caused by the skew that 2 sensing stations are mutual.Its result, can improve the efficiency of motor.

Figure 17 is the block diagram of the inner structure representing main control circuit 610.The communication interface 710 of main control circuit 610 receives the first magnetic deviation from the one 2 axial magnetic sensor circuit 130 and exports D1, receives the second magnetic deviation export D2 from the 22 axial magnetic sensor circuit 230.The magnetic deviation received exports D1, D2 and is supplied to position signalling generating unit 730 by via data reception portion 720.This position signalling generating unit 730 have with in the function that Fig. 7 ~ position signalling generating unit 300 illustrated in fig. 9 is identical.The absolute position obtained by position signalling generating unit 730 exports Dabs and is supplied to angular speed calculation portion 740, calculates the angular velocity (rotational speed) of rotor 510.In addition, this angular velocity is supplied to angular acceleration calculating portion 750, calculates the angular acceleration of rotor 510.Output signal Pa, Pb, Z (Fig. 4) of one 2 axial magnetic sensor circuit 130 are supplied to speed calculation unit 760.

Figure 18 represents the inner structure of speed calculation unit 760 and the key diagram of action.B phase pulse signal Pb is supplied to the DATA IN terminal of d type flip flop 761, and A phase pulse signal Pa is supplied to clock terminal.Lifting signal Ua/Da as the output of d type flip flop 761 is supplied to the input terminal of up-down counter 762.The high level of lifting signal Ua/Da represents that the sense of rotation of rotor 510 is positive dirction (clockwise direction), and low level represents it is reverse direction.To the clock terminal supply periodic signal Z of up-down counter 762, the rising edge according to periodic signal changes count value.That is, when lifting signal Ua/Da is high level, count value is from adding 1, and under lifting signal Ua/Da is low level situation, count value is from subtracting 1.The count value of up-down counter 762 is supplied to latch 763.To the clock terminal supply periodic signal Z of latch 763, be latched device 763 according to the negative edge count value Dn of periodic signal Z and keep.The output of latch 763 is output to outside as the rotating speed Nr of rotor 510.This rotating speed Nr is relevant with the parts driven by electro-motor 500 (joint of such as robot), represents the rotating speed of the electro-motor 500 from the reference position of its regulation.This rotating speed Nr is supplied to rotating speed storage part 770 (Figure 17) and is stored.

The main control circuit 610 of Figure 17 also has IO interface 780, register 790 and MPU795.IO interface 780 is connected with above-mentioned circuit (position signalling generating unit 730, angular speed calculation portion 740, angular acceleration calculating portion 750, speed calculation unit 760, register 790, MPU795), as required the output from these circuit is supplied to outside.The data such as the number of poles of register 790 temporary reservoir first magnet body 110, the absolute position (mechanical angle θ r) of rotor 510.Rotating speed storage part 770, register 790 store content to keep each when the power-off of control part 600, preferably support with battery 800.Like this, such as, when electro-motor is used as the drive source in the joint of robot, the position in joint during power-off to robot is based on the storage content in rotating speed storage part 770, register 790, when upper once electric power starting, correctly identify the position in joint and control.MPU (Micro Processing Unit: microprocessing unit) 795 performs the various controls (such as servocontrol) relevant to electro-motor 500.In addition, the control treatment performed by MPU795 performs by MPU795 the computer program be stored in not shown storer and realizes.Like this, if use the rotary encoder of above-mentioned embodiment to form electromechanical assembly, then can carry out position detection accurately and controller electric installation.

In addition, scrambler is not limited to the electromechanical assembly producing driving force, also can be applied to (that is, the regenerating) electromechanical assembly carrying out generating electricity, the electromechanical assembly that can carry out driving and regenerating two sides.As such electromechanical assembly, such as, there is the various motors such as 2 phase AC brushless motors, 3 phase AC brushless motors, 3 synchronised motors, engine, motor.As the scrambler that these electromechanical assemblies use, the above-mentioned various rotary encoder 100A ~ 100F illustrated in the first to the 6th embodiment can be used.In the electromechanical assembly that make use of these various rotary encoders, also preferred using the driving in electromechanical assembly or regeneration magnet body as rotary encoder first magnet body utilize.Wherein, also can not share magnet body, rotary encoder is connected with the outside of electromechanical assembly.

D. make use of the various devices of the electromechanical assembly possessing rotary encoder

Figure 19 is the key diagram of an example of the both arms 7 axle robot representing the electromechanical assembly that make use of above-mentioned embodiment.Both arms 7 axle robot 3450 possesses joint motor 3460, handle part motor 3470, arm 3480 and handle part 3490.Joint motor 3460 is configured in and the position of takeing on, each joint portion such as elbow, arm is suitable.Joint motor 3460 makes arm 3480 and handle part 3490 three-dimensional motion, so each joint possesses 2 motors.In addition, handle part motor 3470 opening and closing handle part 3490, and make handle part 3490 hold object.In both arms 7 axle robot 3450, also can use the electromechanical assembly with above-mentioned rotary encoder as joint motor 3460 or handle part motor 3470.

Figure 20 is the key diagram of the rolling stock representing the electromechanical assembly that make use of above-mentioned embodiment.This rolling stock 3500 has band speed change gear motor 3510 and wheel 3520.This band speed change gear motor 3510 drives wheel 3520.Further, speed change gear motor 3510 is with to be used as generator when the braking of rolling stock 3500, regenerated electric power.In addition, as band speed change gear motor 3510, the above-mentioned electromechanical assembly with rotary encoder can also be used.

Can understand from the example of Figure 19 and Figure 20, the electromechanical assembly with the rotary encoder of embodiment can be used in the various devices comprising the moving body such as robot, vehicle.

E. variation:

In addition, this invention is not limited to the above embodiments, embodiment, can implement, such as, also can be out of shape as follows in the scope not departing from its purport in various mode.

Variation 1:

In above-mentioned various embodiments, the first magnet body and the second magnet body 2 magnet bodies are arranged to rotary encoder, but the magnet body of any one party also can be only set.When rotary encoder only arranges a magnet body, preferably the number of poles M of this magnet body is even number (multiples of 2).Wherein, if arrange 2 magnet bodies, then can detect rotary encoder rotary body absolute position point on more preferred.

Variation 2:

In above-mentioned various embodiments, make use of small magnet 111s, 211s of rectangular shape, replace this, strong magnetic film also can be used to form at least one party of small magnet 111s, 211s.That is, by magnetizing at its thickness direction strong magnetic film, the thinner and magnet of brute force can be formed.If use strong magnetic film, then the size of scrambler can be made compacter.

Variation 3:

The present application is not limited in rotary encoder, also can be applied to linear encoder.

Symbol description

100A ~ 100F ... rotary encoder; 110 ... first magnet body; 111s ... small magnet; 111ps ... small magnet pair; 112 ... coating member; 120 ... first yoke parts; 130 ... one 2 axial magnetic sensor circuit; 131,132 ... amplifying circuit; 135 ... signal processing circuit; 140 ... substrate; 150 ... support unit; 160 ... magnetic blocking parts; 210 ... second magnet body; 220 ... second yoke parts; 230 ... 22 axial magnetic sensor circuit; 300 ... position signalling generating unit; 400 ... rotary body; 500 ... electro-motor; 522A, 522B ... solenoid; 530 ... turning axle; 600 ... control part; 610 ... main control circuit; 620A, 620B ... drive singal generating unit; 630A, 630B ... driving circuit; 710 ... communication interface; 720 ... data reception portion; 730 ... position signalling generating unit; 740 ... angular speed calculation portion; 750 ... angular acceleration calculating portion; 760 ... speed calculation unit; 762 ... up-down counter; 763 ... latch; 770 ... rotating speed storage part; 780 ... IO interface; 790 ... register; 795 ... MPU; 800 ... battery; 3460 ... joint motor; 3470 ... handle part motor; 3480 ... arm; 3490 ... handle part; 3500 ... rolling stock; 3510 ... band speed change gear motor; 3520 ... wheel.

Claims

1. a scrambler, is measure relative to the scrambler of first component along the position of the second component of the moving direction movement of regulation, possesses:

First magnet body of M1 pole, it comprises multiple first small magnets being arranged at described second component, and wherein, M1 is the even number of more than 4;

Second magnet body of M2 pole, it comprises multiple second small magnets being arranged at described second component, and wherein, M2 is the even number of more than 2;

One 2 axial magnetic sensor circuit, it has apart from the surface of described first magnet body and certain is configured on described first component with gap;

22 axial magnetic sensor circuit, it has apart from the surface of described second magnet body and certain is configured on described first component with gap; And

Position signalling generating unit, it processes the output signal of described one 2 axial magnetic sensor circuit and described 22 axial magnetic sensor circuit,

Described one 2 axial magnetic sensor circuit and described 22 axial magnetic sensor circuit have 2 magnetosensitive direction of principal axis respectively,

The direction that each first small magnet forming described first magnet body intersects in the magnetosensitive face with described one 2 axial magnetic sensor circuit is magnetized,

The direction that each second small magnet forming described second magnet body intersects in the magnetosensitive face with described 22 axial magnetic sensor circuit is magnetized,

Described position signalling generating unit exports according to the first magnetic deviation of described one 2 axial magnetic sensor circuit and the second magnetic deviation of described 22 axial magnetic sensor circuit exports, and generates and represents the position signalling of described second component relative to the position of described first component.

2. scrambler according to claim 1, is characterized in that,

Described one 2 axial magnetic sensor circuit and described 22 axial magnetic sensor circuit comprise multiple X-axis sensor element in the magnetic field for measuring the described X-axis in mutually orthogonal X-axis and Y-axis and the multiple Y-axis sensor elements for measuring the magnetic field along described Y-axis respectively.

3. the scrambler according to claims 1 or 2, is characterized in that,

Described integer M1, M2 are M1/2 and M2/2 is relatively prime integer,

Described position signalling generating unit exports according to the first magnetic deviation of described one 2 axial magnetic sensor and the second magnetic deviation of described 22 axial magnetic sensor exports the described position signalling of generation.

4. scrambler according to claim 3, is characterized in that,

Described integer M1 equals 2 ^q+1, wherein, Q is the integer of more than 1,

Described integer M2 equals 2,

First magnetic deviation output of described one 2 axial magnetic sensor circuit is the digital signal of the N1 position of the relative position of the described second component represented relative to described first component, and wherein, N1 is the integer of more than 2,

Second magnetic deviation output of described 22 axial magnetic sensor circuit is the digital signal of the N2 position of the relative position of the described second component represented relative to described first component, and wherein, N2 is the integer of more than 2,

The upper Q position that described position signalling generating unit generates described second magnetic deviation exports as described position signalling is configured in upper, and the N1 position that described first magnetic deviation exports is configured in the signal of the N1+Q position below described upper Q position that described second magnetic deviation exports.

5. scrambler according to claim 4, is characterized in that,

Described position signalling generating unit is when the described first magnetic deviation output of the described one 2 axial magnetic sensor circuit of movement along with described second component increases together with the described second magnetic deviation output of described 22 axial magnetic sensor circuit, with described first magnetic deviation export the maximal value exported from described first magnetic deviation turn back to minimum value opportunity, oneself adds the consistent mode on opportunity of 1 with the described upper Q position that described second magnetic deviation exports, revise according to the described upper Q position that described first magnetic deviation exports described second magnetic deviation exports

The described upper Q position using described revised described second magnetic deviation to export, generates the described position signalling of described N1+Q position.

6., according to the scrambler in Claims 1 to 5 described in any one, it is characterized in that,

Described second component rotary body,

Described first magnet body comprises the many groups of small magnets pair be made up of 2 the first small magnets be mutually in the opposite direction magnetized,

Described many group small magnets are to the track configurations of the circle along the turning axle around described rotary body.

7. scrambler according to claim 6, is characterized in that,

Each first small magnet has rectangular shape,

Each small magnet to have 2 the first small magnets and by cover described 2 the first small magnets surrounding make the shape of the right entirety of described small magnet become the coating member of antiparallelogram prism shape at least partially.

8., according to the scrambler in claim 1 ~ 6 described in any one, it is characterized in that,

At least one party of described first small magnet and described second small magnet is formed by strong magnetic film.

9. an electromechanical assembly, is characterized in that, possesses:

Scrambler, it is the scrambler in the claim 1 ~ 7 be connected with the rotor of described electromechanical assembly described in any one; And

Control part, it controls the action of described electromechanical assembly.

10. electromechanical assembly according to claim 9, is characterized in that,

Described electromechanical assembly is 2 phase AC brushless motors of the solenoid with 2 phases,

Described control part has drive singal generating unit, and this drive singal generating unit, according to the described sine wave signal of the described one 2 axial magnetic sensor circuit output from described scrambler and described cosine wave signal, generates the drive singal of the solenoid of described 2 phases.

11. 1 kinds of robots, is characterized in that,

Possesses the electromechanical assembly described in claim 9 or 10.

12. 1 kinds of rolling stocks, is characterized in that,

Possesses the electromechanical assembly described in claim 9 or 10.