CN106165266A - Motor and motor encoder - Google Patents

Motor and motor encoder Download PDF

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Publication number
CN106165266A
CN106165266A CN201480077270.0A CN201480077270A CN106165266A CN 106165266 A CN106165266 A CN 106165266A CN 201480077270 A CN201480077270 A CN 201480077270A CN 106165266 A CN106165266 A CN 106165266A
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China
Prior art keywords
motor
encoder
magnetic
magnetic field
magnet
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Granted
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CN201480077270.0A
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CN106165266B (en
Inventor
吉富史朗
原田正信
村冈次郎
小山昌二
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K5/00Casings; Enclosures; Supports
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Motor Or Generator Frames (AREA)

Abstract

The present invention provides motor and motor encoder, it is possible to reduce from the impact on magnetic field sensor of the leakage magnetic flux of motor electromagnetic portion and electromagnetic brake.The servomotor (SM) with encoder (100) has: making the electromagnetic brake (200) of motor electromagnetic portion (M) that motor shaft (SH1) rotates and the braking that carries out motor shaft (SH1), encoder (100) has: be supported for the Magnet (111a~111d) rotated together with motor shaft (SH1);Magnetic field sensor (120a~120c), it comprises the magnetic (121) possessing large Barkhusen effect, the magnetic field of detection Magnet (111a~111d);And the pillar part (147a~147c) as flux of magnetic induction parts, leakage magnetic flux is sensed by as follows: make at least one party from motor electromagnetic portion (M) and electromagnetic brake (200) become the direction orthogonal with the length direction of magnetic field sensor (120a~120c) towards the leakage magnetic flux of magnetic field sensor (120a~120c).

Description

Motor and motor encoder
Technical field
Embodiment disclosed in the present application relates to motor and motor encoder.
Background technology
Having recorded a kind of motor in patent documentation 1, this motor comprises motor body, rotary body and has magnetic Magnetic field sensor, described magnetic possesses large Barkhusen effect.
Prior art literature
Patent documentation
Patent documentation 1: International Publication the 2013/094042nd
Summary of the invention
The problem that invention is to be solved
Magnetic field sensor is likely affected by from the leakage magnetic flux in motor electromagnetic portion etc., but in the above prior art It it not the structure that this leakage magnetic flux is considered especially.
The present invention completes in view of such problem points, its object is to offer and can reduce from motor electromagnetic portion With the leakage magnetic flux of electromagnetic brake on the motor of the impact of magnetic field sensor and motor encoder.
For solving the means of problem
In order to solve above-mentioned problem, according to a viewpoint of the present invention, apply a kind of motor with encoder, wherein, This motor has: motor electromagnetic portion, consists of and makes motor shaft rotate;And electromagnetic brake, consist of and carry out described electricity The braking of arbor, described encoder has: Magnet, and it is supported for rotating together with described motor shaft;Magnetic field sensor, its bag Contain the magnetic possessing large Barkhusen effect, be configured to detect the magnetic field of described Magnet;And flux of magnetic induction parts, its to from At least one party in described motor electromagnetic portion and described electromagnetic brake senses towards the leakage magnetic flux of described magnetic field sensor, Described leakage magnetic flux is made to become the direction orthogonal with the length direction of described magnetic field sensor.
It addition, according to another viewpoint of the present invention, apply a kind of motor with encoder, wherein, this motor has: Motor electromagnetic portion, consists of and makes motor shaft rotate;And electromagnetic brake, consist of the braking carrying out described motor shaft, Described encoder has: Magnet, and it is supported for rotating together with described motor shaft;Magnetic field sensor, it comprises and possesses big bus The magnetic of Ke Haosen effect, is configured to detect the magnetic field of described Magnet;And encoder axle, it is made up of magnetic material, with Described motor shaft rotates together with, and described encoder axle is configured on the radial direction of the rotational trajectory circle of described Magnet Relative with described magnetic field sensor.
It addition, according to another viewpoint of the present invention, apply a kind of motor with encoder, wherein, this motor has: Motor electromagnetic portion, consists of and makes motor shaft rotate;And electromagnetic brake, consist of the braking carrying out described motor shaft, Described encoder has: Magnet, and it is supported for rotating together with described motor shaft;Magnetic field sensor, it comprises and possesses big bus The magnetic of Ke Haosen effect, is configured to detect the magnetic field of described Magnet;And coil, its be arranged in described motor electromagnetic portion or Between described electromagnetic brake and described encoder, described coil is configured to produce from described volume on the axle center of described motor shaft Code device side is towards described motor electromagnetic portion or the magnetic flux of described electromagnetic brake side.
It addition, according to another viewpoint of the present invention, apply a kind of motor encoder used in motor, this motor Having motor electromagnetic portion, described motor electromagnetic portion is configured to make motor shaft rotate, and wherein, described motor encoder has: magnetic Ferrum, it is supported for rotating together with described motor shaft;Magnetic field sensor, it comprises the magnetic possessing large Barkhusen effect Body, is configured to detect the magnetic field of described Magnet;And flux of magnetic induction parts, it is to from described motor electromagnetic portion and be configured to carry out At least one party in the electromagnetic brake of the braking of described motor shaft senses towards the leakage magnetic flux of described magnetic field sensor, makes Obtain the direction that described leakage magnetic flux becomes orthogonal with the length direction of described magnetic field sensor.
Invention effect
Motor etc. according to the present invention, it is possible to reduce the leakage magnetic flux from motor electromagnetic portion and electromagnetic brake and magnetic field is passed The impact of sensor.
Accompanying drawing explanation
Fig. 1 is the explanatory diagram of an example of the structural outline of the servosystem for an embodiment is described.
Fig. 2 is the explanatory diagram of an example of the structure of the servosystem for this embodiment is described.
Fig. 3 is the explanatory diagram of an example of the structure for the Magnet of this embodiment and Magnet fixed component are described.
Fig. 4 is the explanatory diagram of an example of the structure for the magnetic field sensor and pillar part that this embodiment is described.
Fig. 5 is an example of the structure for the substrate of this embodiment, substrate holding part and optical module are described Explanatory diagram.
Fig. 6 is the explanatory diagram of an example of the structure in the control portion for this embodiment is described.
Fig. 7 is the servomotor M of the variation configuring shield member for explanation between electromagnetic brake and encoder The explanatory diagram of an example of structure.
Fig. 8 is the knot of the servomotor SM of the variation configuring coil for explanation between electromagnetic brake and encoder The explanatory diagram of one example of structure.
Detailed description of the invention
Hereinafter, referring to the drawings an embodiment is illustrated.Further, in the present description and drawings, for essence On there is the structural element of identical function, be denoted by the same reference numerals in principle, weight suitably omitted for these structural elements Multiple explanation.
1. servosystem
First, with reference to Fig. 1, one example of the structural outline of the servosystem of present embodiment is illustrated.Fig. 1 is to represent The schematic diagram of one example of the structural outline of the servosystem of present embodiment.
As it is shown in figure 1, servosystem S has servomotor SM and controls device CT.Servomotor SM has motor electromagnetic Portion M, electromagnetic brake 200 and encoder 100.
Here, sometimes by motor electromagnetic portion M monomer or the knot including motor electromagnetic portion M and electromagnetic brake 200 Structure or the structure including motor electromagnetic portion M and encoder 100 are referred to as motor or servomotor.But, in this specification In, the structure including motor electromagnetic portion M, electromagnetic brake 200 and encoder 100 is referred to as servomotor SM.The most just Being to say, servomotor SM is equivalent to an example of motor, and the encoder 100 used in this servomotor SM is equivalent to motor and compiles One example of code device.
It addition, for convenience of explanation, hereinafter, to motor be controlled as follow position and speed etc. desired value and The situation of the servomotor SM with electromagnetic brake 200 illustrates, but motor is not limited to such servomotor SM. Such as, although motor is controlled as follow the desired value of position and speed etc. but it also may be that not there is electromagnetic brake Servomotor.As long as additionally, motor is attached to encoder, it is also possible to be beyond servosystem in the case of use electricity Machine, such as, be served only for the situation etc. of display by the output of encoder.
It addition, in servomotor SM, motor electromagnetic portion M, electromagnetic brake 200 and encoder 100 each can divide It is equipped with, it is also possible to be that motor electromagnetic portion M is provided integrally with electromagnetic brake 200, or encoder body (product as independent) 100 are provided integrally with electromagnetic brake 200.In the case of motor electromagnetic portion M is provided integrally with electromagnetic brake 200, sometimes Its structure (product) is referred to as " motor of band brake ".On the other hand, it is provided integrally with electromagnetic brake at encoder 100 In the case of 200, sometimes its structure (product) is referred to as " encoder of band brake ".It addition, in servomotor SM, it is possible to Being that motor electromagnetic portion M is provided integrally with electromagnetic brake 200 and encoder 100.But, for convenience of explanation, below, to electricity The situation that dynamo-electric magnetic portion M is provided integrally with electromagnetic brake 200 illustrates.
Motor electromagnetic portion M exports revolving force by making motor shaft SH1 rotate around its axle center AX.In this manual, will The revolving force outlet side of motor electromagnetic portion M is referred to as " load-side ", and its opposition side is referred to as " load reverse side ".
Electromagnetic brake 200 carries out the braking of motor shaft SH1." braking of motor shaft SH1 " is to instigate just at inertial rotation Motor shaft SH1 static, or refer to following situation: applying to make it rotate to being in static motor shaft SH1 from outside Power (moment of torsion) time, keep motor shaft SH1 and maintain the resting state of motor shaft SH1.This electromagnetic brake 200 is adjacent to join It is placed in the load reverse side of motor electromagnetic portion M.
It addition, electromagnetic brake 200 is not necessary to be configured to adjacent with motor electromagnetic portion M, it is also possible to via such as slowing down Other structures such as device, direction of rotation transducer, encoder are configured on motor electromagnetic portion M.It addition, electromagnetic brake 200 is not It is the load reverse side that must be arranged in motor electromagnetic portion M, it is also possible to be arranged in the load-side of motor electromagnetic portion M.But, in order to Convenient explanation, hereinafter, is entered by the situation of the load reverse side being adjacent to be configured at motor electromagnetic portion M electromagnetic brake 200 Row explanation.
Encoder 100 has and rotates together with motor shaft SH1, and quilt in the way of becoming same axle center with motor shaft SH1 The encoder axle SH2 supported.Further, encoder 100 detects motor electromagnetic portion M's by the position of detection encoder axle SH2 Position (also referred to as " position of rotation " or " anglec of rotation " etc.), and export the position data representing this position.This encoder 100 is joined Put the load reverse side at motor electromagnetic portion M.Therefore, it is adjacent to be configured at the negative of motor electromagnetic portion M at electromagnetic brake 200 Carrying in the present embodiment of opposition side, encoder 100 is configured in the load reverse side of electromagnetic brake 200.
It addition, encoder 100 can also detect the speed of motor electromagnetic portion M (also in addition to the position of motor electromagnetic portion M Be referred to as rotary speed, angular velocity etc.) and acceleration (also referred to as rotary acceleration, angular acceleration etc.) at least one, or The position of motor electromagnetic portion M can also be substituted and detect at least one in the speed of motor electromagnetic portion M and acceleration.This In the case of, such as can by time position being carried out first differential or second-order differential, or by detection signal enter The countings that professional etiquette is fixed time etc. process and detect speed and acceleration.But, for convenience of explanation, hereinafter, to encoder 100 The situation that physical quantity is position of detection illustrates.
It addition, encoder 100 is not necessary to be arranged in the load reverse side of electromagnetic brake 200.That is, can not be by electricity In the case of magnetic brake 200 is adjacent to be configured at the load reverse side of motor electromagnetic portion M, encoder 100 can be at motor electricity The load reverse side of magnetic portion M, is configured between motor electromagnetic portion M and electromagnetic brake 200.Additionally, encoder 100 is not must The load reverse side of motor electromagnetic portion M must be arranged in, it is also possible to be arranged in the load-side of motor electromagnetic portion M.But, for convenience Illustrate, hereinafter, encoder 100 is configured in the electromagnetic brake that the load reverse side with motor electromagnetic portion M is adjacent to The situation of the load reverse side of 200 illustrates.
Control device CT and obtain position data from encoder 100, and control the dynamic of motor electromagnetic portion M according to this position data Make.Specifically, control device CT and control to be applied to the curtage etc. of motor electromagnetic portion M according to position data, thus control The action of motor electromagnetic portion M processed.Additionally, control device CT can also obtain upper control letter from host control device (not shown) Number, motor electromagnetic portion M is controlled so that be capable of the position represented by this upper control signal from motor shaft SH1 output The revolving force put etc..
It addition, control device CT, the action of electromagnetic brake 200 is controlled.Specifically, device CT is controlled by control The system energising to electromagnetic brake 200, controls the action of electromagnetic brake 200.
2. servomotor
Then, with reference to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, an example of the structure of servomotor SM is illustrated.Fig. 2 be along The sectional view in the AX direction, axle center of servomotor SM.Fig. 3 is the sectional view of the section B-B in Fig. 2.Fig. 4 is that the C-C in Fig. 2 cuts The sectional view in face.Fig. 5 is the sectional view of the Section A-A in Fig. 2.It addition, in Fig. 2 and Fig. 4, schematic by heavy solid line arrows Illustrate an example of leakage magnetic flux.
As in figure 2 it is shown, servomotor SM has above-mentioned motor electromagnetic portion M, above-mentioned electromagnetic brake 200 and above-mentioned coding Device 100.
Here, the structure of each structure of servomotor SM for convenience of explanation, hereinafter, set left and right grade side as follows To and be suitably used.That is, in Fig. 2~Fig. 5, load reverse side direction i.e. Z axis forward is set as " right ", contrary is born Carry side and be set as " left " to i.e. Z axis negative sense.But, the direction such as left and right is as arranging form and changing of servomotor SM , the position relationship of each structure of servomotor M is not defined.It addition, for convenience of explanation, sometimes to setting here Direction uses other expression waies, the most suitably illustrates the direction beyond the direction set here and is used.
(2-1. motor electromagnetic portion)
As in figure 2 it is shown, motor electromagnetic portion M has stator 20 and the rotor 10 of the inner circumferential side being arranged in stator 20.That is, motor Electromagnetism portion M is the structure of the what is called " inner-rotor type " being configured with rotor 10 in the inner circumferential side of stator 20.
Rotor 10 is fixed on the periphery of motor shaft SH1 in the way of becoming same axle center with motor shaft SH1.This rotor 10 Such as there is the Magnet (not shown) as permanent magnet.That is, rotor 10 is configured to excitation division.
Motor shaft SH1 is such as made up of magnetic material, and motor shaft SH1 is entrenched in the inner circumferential of support 40,45 by foreign steamer Bearing 30,35, by can around axle center AX rotation in the way of be supported.
Stator 20 by the radial direction in the way of magnetic gap is relative with the periphery of rotor 10, by configuring to the left and The above-mentioned support 40,45 on right side is supported.This stator 20 has stator core 22, the bobbin being arranged on stator core 22 24 (also referred to as " insulators "), the winding wire 26 being wound on bobbin 24 and the end of winding wire 26 is carried out wiring process Wiring substrate 28, and by resin moulded portion 50 one-body molded.That is, stator 20 is configured to armature.Bobbin 24 is by insulating Material (such as resin) is constituted, by stator core 22 and winding wire 26 electric insulation.
In the motor electromagnetic portion M of said structure, by winding wire 26 is energized, produce magnetic in the inner side of stator 20 ?.Further, by the magnetic field of the inner side of this stator 20 and the interaction in the magnetic field of Magnet based on rotor 10 so that rotor 10 Rotate around axle center AX relative to stator 20, thus make motor shaft SH1 rotate around axle center AX.
It addition, the structure of the motor electromagnetic portion M of described above is only an example, it is also possible to be the structure beyond above-mentioned situation. Such as, motor electromagnetic portion M is not limited to rotor 10 and is configured to excitation division, and stator 20 is configured to the situation of armature, it is also possible to be Rotor 10 is configured to armature, and stator 20 is configured to excitation division.The most such as, motor electromagnetic portion M is not limited to be configured to internal rotor The situation of type, it is also possible to be the structure of what is called " outer-rotor type " being configured with rotor at the outer circumferential side of stator.
(2-2. electromagnetic brake)
As in figure 2 it is shown, electromagnetic brake 200 has brake disc 202, storage magnet exciting coil 210 and spring (not shown) Field core 204 and armature 206.It addition, these brake discs 202, field core 204, armature 206 etc. constitute electromagnetic braking Each parts of device 200 are incorporated in shell 220.
The inside of shell 220 is run through and is inserted with motor shaft SH1, and shell 220 is fixed on the support of above-mentioned motor electromagnetic portion M The right-hand member of 45.
Brake disc 202 is fixed on the periphery of motor shaft SH1 in the way of its center of rotation is consistent with axle center AX.
Armature 206 is made up of magnetic material, relative with field core 204 in the lateral direction, and, armature 206 is with only The mode that can move in the lateral direction is configured between brake disc 202 and field core 204.
Spring acts on the active force pressed to the left to armature 206.
It addition, be provided with friction material 214 on the surface relative with armature 206 of brake disc 202.
Further, electromagnetic brake 200 is configured to the electromagnetic brake of " non-excited work type ", it may be assumed that not to magnet exciting coil Work in the way of carrying out the braking of motor shaft SH1, to magnet exciting coil under the non-power status (without excited state) of 210 energisings Under the "on" position (excited state) of 210 energisings, do not carry out the braking of motor shaft SH1.
Hereinafter, an example of the action of the electromagnetic brake 200 of said structure is illustrated.
That is, under without excited state, armature 206 is pressed to the left by spring and moves to the left, connects with friction material 214 Touch.As a result of which it is, brake disc 202 is braked, motor shaft SH1 is braked.
On the other hand, under excited state, magnet exciting coil 210 applies magnetic attraction to the right to armature 206.Thus, Armature 206 overcomes the active force of spring to move to the right, separates with friction material 214.As a result of which it is, brake disc 202 not by Braking, motor shaft SH1 is unlatched.
It addition, the structure of the electromagnetic brake 200 of described above and action are only examples, it is also possible to be beyond above-mentioned situation Structure and action.Such as, electromagnetic brake 200 is not limited to the electromagnetic brake of non-excited work type.That is, electromagnetic braking As long as device 200 can carry out the electromagnetic brake of the braking of motor shaft SH1, it is also possible to be other kinds of electromagnetic braking Device, such as, work under excited state in the way of carrying out the braking of motor shaft SH1, does not carry out motor shaft under non-excited state The electromagnetic brake etc. of " excited work type " of the braking of SH1.
(2-3. encoder)
As shown in Fig. 2~Fig. 5, encoder 100 have above-mentioned encoder axle SH2, Magnetic testi mechanism, optical de-tection means, And control portion 150 (with reference to Fig. 6 described later).Further, these Magnetic testi mechanisms, optical de-tection means, control portion 150 etc. are constituted Each parts of encoder 100 are such as incorporated in the encoder cover 102 that lid is cylindric.
Encoder cover 102 is made up of magnetic material, is fixed on the right-hand member of the shell 220 of above-mentioned electromagnetic brake 200.
It addition, encoder cover 102 is not necessary to be made up of magnetic material, it is also possible to be made up of nonmagnetic substance.But, for Facilitating explanation, hereinafter, situation about being made up of encoder cover 102 magnetic material illustrates.
(2-3-1. encoder axle)
Encoder axle SH2 is entrenched in the bearing 104,106 of the inner circumferential of support 108 by foreign steamer, and being supported for can be with Motor shaft SH1 rotates together about axle center AX.This encoder axle SH2 and motor shaft SH1 split, and it is connected motor shaft SH1 Right part 1R (being equivalent to an example of end).Specifically, the right part 1R of motor shaft SH1 is such as formed by machining Less than the part beyond the 1R of right part for diameter, the left part 2R1 of encoder axle SH2 is formed towards right side depression recessed Portion 2R1a.Further, by making right part 1R chimeric with recess 2R1a, encoder axle SH2 is connected the right part of motor shaft SH1 On 1R.
Support 108 is connected via the shell 220 of support member (not shown) with above-mentioned electromagnetic brake 200.
It addition, encoder axle SH2 is made up of magnetic material, be configured to: Magnet 111a described later, 111b, 111c, The rotational trajectory of 111d is justified on the radial direction of Ra, Rb, Rc, Rd relative with magnetic field sensor 120a, 120b, 120c described later. Specifically, the right part 2R2 of encoder axle SH2 highlights to the right than magnetic field sensor 120a~120c.Thus, from motor electromagnetic At least one party in portion M and electromagnetic brake 200 concentrates on encoder axle SH2 towards the leakage magnetic flux of encoder 100 side, it is possible to make The magnetic circuit of a part for this leakage magnetic flux is formed as from the right part 2R2 of encoder axle SH2 at magnetic field sensor 120a~120c In roundabout.
It addition, the connected mode of the right part 1R of motor shaft SH1 and encoder axle SH2 is not limited to base as described above Connection in right part 1R Yu the Qian He of recess 2R1a, it is also possible to be other modes.It addition, encoder axle SH2 be not limited to The situation of motor shaft SH1 split, it is also possible to motor shaft SH1 one.But, for convenience of explanation, hereinafter, to encoder axle SH2 illustrates with the situation of motor shaft SH1 split.It addition, the right part 2R2 of encoder axle SH2 is not necessary to pass than magnetic field Sensor 120a~102c highlights to the right, it is also possible to be positioned on left and right directions roughly the same with magnetic field sensor 120a~102c Position.
(2-3-2. Magnetic testi mechanism)
Magnetic testi mechanism is that the rotation status (such as rotating speed and direction of rotation etc.) to above-mentioned motor electromagnetic portion M carries out magnetic inspection The mechanism surveyed.This Magnetic testi mechanism has 4 i.e. Magnet 111a, 111b, 111c, 111d of permanent magnet and (is the most suitably referred to as " Magnet 111 ") and 3 magnetic field sensors 120a, 120b, 120c (be the most suitably referred to as " magnetic field sensor 120 ".).
Magnet 111a~111d is supported for rotating together with motor shaft SH1.Specifically, encoder 100 has round The Magnet fixed component 112 of ring flat-plate shape, this Magnet fixed component 112 becomes same axle center with motor shaft SH1, and this Magnet is fixed Parts 112 are fixed on the right part 2R2 of encoder axle SH2 in the way of direction, plate face becomes the direction vertical with left and right directions Periphery.Magnet fixed component 112 is such as made up of nonmagnetic substance but it also may be made up of magnetic material.Further, Magnet 111a~111d is tabular Magnet, and they are fixed on the left surface of Magnet fixed component 112 (in the lateral direction with magnetic field The surface of the side that sensor 120a~120c is relative), and rotate together about axle center AX with Magnet fixed component 112.More Body, Magnet 111a, 111b, 111c, 111d are fixed to: respective rotational trajectory circle Ra, Rb, Rc, Rd (following suitably general designation For " rotational trajectory circle R ".) radius/circumference consistent with each other.More specifically, Magnet 111a~111d is with rotational trajectory circle R's The mode that circumferencial direction (90 ° of intervals) separates on (being referred to as " circumferencial direction " the most merely) the most at equal intervals, is fixed Left surface in Magnet fixed component 112.
Further, Magnet 111a~111d is magnetized in the lateral direction, and the magnetic pole in left side replaces in a circumferential direction Ground configuration.Such as, Magnet 111a, 111b, 111c, 111d is configured to the magnetic pole in each left side is N pole, S pole, N pole, S pole.Separately Outward, in FIG, eliminate the diagram of the magnetic pole of Magnet 111a~111d, in figure 3, illustrate only Magnet 111a's~111d The magnetic pole in left side.
It addition, the quantity of Magnet 111 is not limited to 4, it is also possible to be other quantity.The quantity of Magnet 111 is being set When being set to other quantity beyond 4, the quantity of magnetic field sensor 120 grade and configuration may also suitably be changed.But, in order to Convenient explanation, hereinafter, illustrates the situation that quantity is 4 of Magnet 111.It addition, Magnet 111 is not limited to forever The situation of Magnet, it is also possible to be other Magnet (such as electric magnet etc.).It addition, Magnet 111 is not limited to tabular Magnet Situation, it is also possible to be other Magnet (such as ringshaped magnet (multipole magnet) or arc-shaped magnets etc.).But, say for convenience Bright, hereinafter, it is permanent magnet to Magnet 111 and illustrates for the situation of tabular Magnet.
It addition, Magnet 111 is not limited to be fixed in the situation of Magnet fixed component 112, it is also possible to be fixed in volume Code device axle SH2 or described later dish 130, wheel hub 131 etc..Magnet 111 is being fixed on encoder axle SH2 or dish 130, wheel hub 131 In the case of Deng, it is convenient to omit Magnet fixed component 112.But, for convenience of explanation, hereinafter, Magnet 111 is fixed in The situation of Magnet fixed component 112 illustrates.
It addition, Magnet 111 is not limited in the way of relative with magnetic field sensor 120 in the lateral direction be configured in The situation on the right side of magnetic field sensor 120, it is also possible to be arranged in the left side of magnetic field sensor 120.Or, Magnet 111 can also It is configured in inside the radial direction of magnetic field sensor 120 according to mode relative with magnetic field sensor 120 in the radial direction Or outside.But, for convenience of explanation, hereinafter, to Magnet 111 with relative with magnetic field sensor 120 in the lateral direction The situation on the right side that mode is configured in magnetic field sensor 120 illustrates.
Magnetic field sensor 120a~120c has: possess the magnetic (also referred to as " magnetics ") of large Barkhusen effect 121;With the coil 122 being wound on magnetic 121.
These magnetic field sensors 120a~120c is fixed on support 108 as follows: respective length direction (tool It is the length direction of magnetic 121 from the point of view of body) parallel with the tangential direction of rotational trajectory circle R, and in the lateral direction can Relative with Magnet 111a~111d (across the 1st magnetic part described later and the 2nd magnetic part).Specifically, magnetic field sensor 120a~120c is configured to: the beeline between length direction one end and the axle center AX of magnetic 121 and magnetic 121 Length direction the other end and axle center AX between beeline equal.More specifically, magnetic field sensor 120a~120c with Beeline between length direction central part and the axle center AX of respective magnetic 121 is equal to each other, and at circumferencial direction On the mode that (120 ° of intervals) separates the most at equal intervals, be configured in around encoder axle SH2.That is, magnetic field sensor 120a~120c is configured in around encoder axle SH2 in the way of observing in roughly triangular shape from left and right directions.
Further, magnetic field sensor 120a~120c can detect the magnetic field of Magnet 111a~111d.
Here, " large Barkhusen effect " refers to the direction of magnetization of magnetic 121 intensity in the external magnetic field given Exceed the phenomenon that the moment of a certain intensity drastically inverts, the biggest Barkhausen jump.
As magnetic 121, it is not particularly limited, as long as the magnetic of large Barkhusen effect can be produced, Such as can use the magnetic (being such as combined magnet-wire, wiegand wire, amorphous wire etc.) of wire, bar-shaped magnetic, the magnetic of tabular Gonosome etc..But, for convenience of explanation, below, it is that the situation being combined magnet-wire illustrates to magnetic 121.
Compound magnet-wire is the composite magnetic body of the uniaxial anisotropy with following magnetic properties, it may be assumed that the magnetic of its peripheral part Change direction to change by giving smaller external magnetic field, but the direction of magnetization of the center portion thereof only gives bigger External magnetic field just changes.
That is, when, on a direction parallel with the length direction of compound magnet-wire, imparting and be enough to make in compound magnet-wire During the bigger external magnetic field of the direction of magnetization reversion in heart portion, the direction of magnetization of the central part of compound magnet-wire and the magnetic of peripheral part Change direction to be unified as equidirectional.Afterwards, when on the other direction in opposite direction with said one, impart and be merely able to make During the smaller external magnetic field of the degree of the direction of magnetization reversion of the peripheral part of compound magnet-wire, the magnetic of the central part of compound magnet-wire Change direction not change, only the direction of magnetization reversion of peripheral part.As a result of which it is, compound magnet-wire becomes the magnetic of the center portion thereof and peripheral part Change the state that direction is different, even if eliminating external magnetic field also can maintain this state.
The most such as, it is magnetized and peripheral part quilt on another direction above-mentioned on said one direction for central part The compound magnet-wire of magnetized state, gives external magnetic field on said one direction.Now, the intensity of external magnetic field is made during beginning Reduce, be gradually increased afterwards.So, when the intensity of external magnetic field exceedes a certain intensity, produce large Barkhusen effect, compound The direction of magnetization of the peripheral part of magnet-wire drastically inverts to said one direction from another direction above-mentioned.Further, due to because of compound The electromotive force drastically inverting generation of the direction of magnetization of magnet-wire, exports such as steep to positive direction from the coil being wound in compound magnet-wire The pulse signal risen high and steeply.
The most such as, for the compound magnet-wire of the state that central part and peripheral part are all magnetized on said one direction, Another direction above-mentioned imparts external magnetic field.Now, the intensity of external magnetic field is made to reduce, the most gradually when being also and start Increase.So, when the intensity of external magnetic field exceedes a certain degree, produce large Barkhusen effect, the peripheral part of compound magnet-wire The direction of magnetization from said one direction drastically to another direction above-mentioned invert.Further, due to because of the magnetization side of compound magnet-wire To the electromotive force that produces of reversion drastically, export from the coil being wound in compound magnet-wire and such as steeply rise to negative direction Pulse signal.
Above-mentioned such compound magnet-wire is being used as in magnetic field sensor 120a~120c of magnetic 121, when to magnetic Body 121 imparts external magnetic field, when the direction of magnetization of the peripheral part of magnetic 121 inverts, from coil 122 output pulse signal.
Further, in encoder 100, the magnetic field being equivalent to be given to the external magnetic field of magnetic 121 is: above-mentioned 4 In Magnet 111a~111d, the magnetic field i.e. magnetic field of Magnet 111a, 111b of the most adjacent 2 Magnet 111,111, The magnetic field of Magnet 111b, 111c, the magnetic field of Magnet 111c, 111d, the magnetic field of Magnet 111d, 111a.These 4 magnetic fields are not energy Enough make the central part of magnetic 121 and the direction of magnetization of peripheral part both sides all change the biggest magnetic field, but be merely able to The direction of magnetization making the peripheral part of magnetic 121 changes the magnetic field of that degree.
That is, when Magnet 111a~111d and motor shaft SH1 rotates together with, it is given to magnetic field sensor 120a~120c The magnetic field (magnetic direction) of magnetic 121 change.Thus, in magnetic field sensor 120a~120c, magnetic 121 The direction of magnetization reversion of peripheral part, from coil 122 output pulse signal.Now, magnetic field sensor 120a~120c has and passes through The magnetic field energy of respective length direction component and the characteristic of action, the magnetic field in direction orthogonal to the longitudinal direction and magnetic field intensity Unrelated, magnetic field sensor 120a~120c is had little to no effect.
It addition, in encoder 100, as it has been described above, Magnet 111a~111d joins with 90 ° of intervals in a circumferential direction Putting, magnetic field sensor 120a~120c configures with 120 ° of intervals in a circumferential direction.Therefore, rotate at motor shaft SH1 During, will not overlap each other from the opportunity of magnetic field sensor 120a~120c respective coil 122 output pulse signal.And And, control portion 150 believes in the pulse of different output on opportunity by using the respective coil of magnetic field sensor 120a~120c 122 Number carry out the process specified, it is possible to carry out detecting (described in detail later) to the rotation status of motor electromagnetic portion M.
It addition, the structure of the magnetic field sensor 120 of described above and action are only examples, it is also possible to be beyond above-mentioned situation Structure and action.Such as, the configuration shape of magnetic field sensor 120a~120c is not limited to observe substantially from left and right directions Triangular shape, it is also possible to be other shapes.It addition, the quantity of magnetic field sensor 120 is not limited to 3, it is also possible to be it His quantity.When by the quantity set of magnetic field sensor 120 being other quantity beyond 3, the quantity of Magnet 111 grade and configuration Etc. may also suitably change.But, for convenience of explanation, hereinafter, the situation that quantity is 3 to magnetic field sensor 120 Illustrate.
It addition, the portion relative with Magnet 111a~111d of magnetic field sensor 120a~120c respective length direction side Point with the part relative with Magnet 111a~111d of length direction opposite side by the 1st magnetic part and the 2nd magnetic part (the most not Diagram) covered.1st and 2nd magnetic part the most corresponding with magnetic field sensor 120a~120c is at corresponding magnetic field sensing Across gap configuration at the length direction central part of device 120, and it is fixed on support 108.Further, with magnetic field sensor 120a~ The the 1st and the 2nd corresponding respectively for 120c magnetic part can be given to the magnetic field sensor 120 of correspondence to Magnet 111a~111d Magnetic field senses, and forms the magnetic circuit of regulation.
Even if it addition, such as also being able to prevent magnetic field sensing in the magnetic field induction function not using the 1st and the 2nd magnetic part In the case of the change being difficult to predict of the direction of magnetization of the magnetic 121 of device 120, it is convenient to omit the 1st and the 2nd magnetic part.
(2-3-3. optical de-tection means, substrate holding part, pillar part)
Optical de-tection means is the mechanism for the position of above-mentioned motor electromagnetic portion M carries out optical detection.This optics is examined Survey mechanism and there is an example i.e. dish 130 and the optical module that the position to encoder axle SH2 carries out the measurand of optical measurement 135。
Dish 130 is connected the right side of encoder axle SH2 in the way of its center of rotation is consistent with axle center AX via wheel hub 131 The ratio above-mentioned Magnet fixed component 112 of end 2R2 part on the right side.
Wheel hub 131 is such as fixed on the right-hand member of encoder axle SH2 by bolt 132.It addition, wheel hub 131 is preferably by magnetic Property material constitute.
On the right surface surface of optical module 135 opposite side (in the lateral direction with) of dish 130, along its circumference Direction is formed with the track (not shown) being arranged with multiple reflection gap (not shown) of more than 1.Reflection gap is to from aftermentioned Light source 136 injection light reflect.As the arrangement pattern in the reflection gap in track, such as, can list reflection seam " increment pattern " that gap repeats regularly with prescribed distance and the position in reflection gap and ratio etc. are at dish 130 once " absolute pattern (the absolute pattern) " that be now uniquely determined in rotation etc., are not particularly limited.
It addition, the right side of right part 2R2 at encoder axle SH2 (in the lateral direction contrary with motor shaft SH1 one Side) i.e. the right side of dish 130, it is configured with and possesses the most discoideus substrate 140 of electronic unit (not shown) and the most discoideus Substrate holding part 145.
Substrate holding part 145 is made up of magnetic material, and be configured to its direction, plate face become with left and right directions hang down Straight direction.That is, substrate holding part 145 is equivalent to an example of magnetic sheet parts.The right surface example of this substrate holding part 145 As being fixed with substrate 140 by bolt 142 so that this substrate holding part 145 is configured in the left side of substrate 140 (in left and right Side abuts up encoder axle SH2 side).
The circumferencial direction of substrate 140 is the most equally spaced configured with many places (at such as 3) bolt 142.
Specifically, what substrate holding part 145 such as had centered by the center of this substrate holding part 145 is round The hole of shape i.e. peristome 145a, and on a face of substrate 140, it is provided with above-mentioned optical module 135.Further, solid at substrate Substrate 140 it is fixed with as follows: the surface being provided with optical module 135 of substrate 140 becomes on the right surface of limiting-members 145 For left surface (surface of dish 130 side), and optical module 135 (specifically, light source 136 the most described later and light battle array Row) it is positioned at peristome 145a.So, by fixing substrate 140 on the right surface of substrate holding part 145 so that be arranged on Optical module 135 on substrate 140 is exposed to left side (dish 130 side).
Optical module 135 by parallel with dish 130 and can with a part for above-mentioned track relative in the way of be arranged on On the left surface of substrate 140.It is provided with light source 136 in the left surface of this optical module 135, and is provided with the edge of more than 1 The circumferencial direction of dish 130 be arranged with multiple photo detector by optical arrays (not shown).Light source 136 is such as made up of LED etc., Part injection light to the above-mentioned track through relative position.Photo detector is such as made up of photodiode etc., receives Penetrated by light source 136 and by the light of the reflection gap reflection of the above-mentioned track through relative position, output is by optical signal.Control Portion 150 uses the process being carried out by optical signal specifying exported from the photo detector by optical arrays, it is possible to detect motor electricity The position (described in detail later) of magnetic portion M.
It addition, substrate holding part 145 (is the most suitably united by columned 3 pillar parts 147a, 147b, 147c It is referred to as " pillar part 147 ".) support, and substrate holding part 145 is fixed on support 108.
Pillar part 147a~147c such as is fixed to uprightly be arranged on substrate holding part 145 He by bolt 149 Between support 108.These pillar parts 147a~147c is the most such as to have at equal intervals the side at (120 ° of intervals) Formula, is configured in the outer circumferential side of magnetic field sensor 120a~120c in the radial direction.Specifically, pillar part 147a, 147b, 147c is made up of magnetic material, and is configured in the respective length of magnetic field sensor 120a, 120b, 120c in the radial direction The outer circumferential side of direction central part.Further, pillar part 147a~147c can be so that from motor electromagnetic portion M and electromagnetic brake At least one party in 200 becomes and magnetic field sensor 120a~120c towards the leakage magnetic flux that magnetic field sensor 120a~120c leaks The mode in the orthogonal direction of length direction, this leakage magnetic flux is sensed.That is, pillar part 147a~147c is equivalent to magnetic One example of parts, and also correspond to an example of flux of magnetic induction parts.
It addition, dish 130 is not limited to situation about being connected via wheel hub 131 with encoder axle SH2, it is also possible to not via wheel hub 131 and be directly anchored on encoder axle SH2.It addition, as measurand, be not limited to dish 130, such as, can also be to compile The miscellaneous parts such as the right side of code device axle SH2.But, for convenience of explanation, hereinafter, to the situation that measurand is dish 130 Illustrate.It addition, encoder 100 is not limited to the situation with the optical de-tection means of so-called " reflection-type ", it is possible to To have the optical de-tection means of so-called " transmission-type ".It addition, encoder 100 is not necessary to have optical de-tection means.But It is for convenience of explanation, hereinafter, the situation of the optical de-tection means that encoder 100 has reflection-type to be illustrated.
It addition, hereinbefore, the right part 2R2 of encoder axle SH2 is not limited to be positioned at the feelings in the left side of substrate 140 Condition, it is also possible to be, encoder axle SH2 through substrate 140 and be positioned at the right side of substrate 140.But, for convenience of explanation, to volume The situation in the left side that the right part 2R2 of code device axle SH2 is positioned at substrate 140 illustrates.
It addition, substrate holding part 145 is not limited to the hole i.e. opening with the circular centered by its center Portion 145a, it is possible to have the peristome of other shapes.Such as, substrate holding part 145 can also have with from its edge court The peristome formed to the mode of central part shape in the form of a substantially rectangular excision.It addition, substrate holding part 145 is not limited to join Put the situation in left side at substrate 140, it is also possible to be arranged in the right side of substrate 140.It is configured in base at substrate holding part 145 During the right side of plate 140, it is possible to use there is no the substrate holding part 145 of peristome.It addition, as magnetic sheet parts, do not limit It is set to substrate holding part 145, as long as be configured in the right side of encoder axle SH2 and made in the direction vertical with left and right directions For the magnetic sheet parts in direction, plate face, then can also use the magnetic sheet parts beyond substrate holding part 145.It addition, such as In the case of being independently arranged magnetic sheet parts on the right side of dish 130 with substrate holding part 145, substrate holding part 145 also may be used To be made up of nonmagnetic substance.It addition, such as in the case of being not provided with substrate holding part 145, as long as on the right side of dish 130 Side arranges magnetic sheet parts.In addition it is also possible to be not provided with magnetic sheet parts.
It addition, the quantity of pillar part 147 is not limited to 3, can become according to the reasonable quantity of magnetic field sensor 120 More.It addition, the shape of pillar part 147 is not limited to cylindric, it is also possible to be other shapes (such as quadrangular shapes etc.).Separately Outward, as magnetic part, it is not limited to pillar part 147, as long as be configured in magnetic field sensor 120 in the radial direction The magnetic part of outer circumferential side of length direction central part, then can also use the magnetic part beyond pillar part 147.Separately Outward, the outer circumferential side of the length direction central part of magnetic field sensor 120 the most in the radial direction, with pillar part 147 independently In the case of arranging magnetic part, pillar part 147 can also be made up of nonmagnetic substance.It addition, be such as not provided with In the case of post parts 147, as long as the outer circumferential side of the length direction central part of magnetic field sensor 120 arranges magnetic in the radial direction Property parts.It addition, as flux of magnetic induction parts, be not limited to magnetic sheet parts, as long as can be to from motor electromagnetic At least one party in portion M and electromagnetic brake 200 senses towards the leakage magnetic flux of magnetic field sensor 120 so that this leakage magnetic flux Become the parts in the direction orthogonal with the length direction of magnetic field sensor 120, it is possible to use beyond magnetic sheet parts Parts.
It addition, in the present embodiment, following situation is illustrated: and used magnetic flux is set on encoder 100 Sense the means (hereinafter appropriately referred to as " the 1st means ") of parts (in the above example for pillar part 147) and utilize magnetic Material constitute encoder axle SH2 and in the radial direction with magnetic field sensor 120 relative configuration means (hereinafter appropriately referred to as " the 2nd means "), it is thus achieved that following description is such reduces the leakage magnetic flux effect on the impact of magnetic field sensor 120.But, on State the 1st means and the 2nd means might not and use, if any one means in the 1st means of employing and the 2nd means, with regard to energy Enough acquisition reduces the leakage magnetic flux effect on the impact of magnetic field sensor 120.
(2-3-4. control portion)
Control portion 150, when generating position data, believes according at least to the light from the photo detector by optical arrays Number, generating position data, output is to controlling device CT.
Hereinafter, as an example of the structure in control portion 150, with reference to Fig. 6, further illustrate and utilize functional block to install Example.Fig. 6 is the functional block diagram of an example of the structure representing control portion 150.
As shown in Figure 6, control portion 150 has rotation status test section 151, position detection part 156 and position data life One-tenth portion 157.The program performed by CPU (not shown) that each function part in these control portions 150 can be possessed by encoder 100 Or the control device (not shown) that encoder 100 possesses performs.Control device such as by ASIC or FPGA etc. towards specific Purposes and the special IC that builds or other circuit etc. are constituted.
Even if rotation status test section 151 is not in the case of external power source supply supply voltage, it is also possible to according to making The voltage generated with the pulse signal exported from magnetic field sensor 120a~120c, the rotation status of detection encoder axle SH2.Should Rotation status test section 151 has power supply switching part 152, waveform shaping section 153, many rotation detection portion 154 and rotates note more Record portion 155.
Power supply switching part 152, in the case of having supplied supply voltage from external power source, to waveform shaping section 153, revolves more Turn test section 154 and the record portion 155 that rotates supplies supply voltage more.On the other hand, power supply switching part 152 is not from outside In the case of power supply supply supply voltage, the electricity generated from the pulse signal of magnetic field sensor 120a~120c output will be used Pressure is supplied to waveform shaping section 153, many rotation detection portion 154 and many rotation record portions 155.
Here, from the pulse signal that magnetic field sensor 120a~120c exports, the pulse letter risen to positive direction is being comprised Number and to negative direction rise pulse signal.Power supply switching part 152 uses the arteries and veins risen to positive direction in these pulse signals Rush signal and generate voltage, and this voltage is supplied to waveform shaping section 153, many rotation detection portion 154 and many rotation record portions 155.It addition, in the case of using full wave rectifier etc., it is also possible to by that export from magnetic field sensor 120a~120c, to bearing The pulse signal risen on direction is applied to voltage and generates.
Waveform shaping section 153, from the pulse signal that magnetic field sensor 120a~120c exports, selects in positive direction The pulse signal risen, and be square wave by the waveform shaping of the pulse signal of selection, and the output of pulse signal after shaping is arrived Many rotation detection portion 154.
Many rotation detection portion 154 detect the rotation of encoder axle SH2 according to the pulse signal exported from waveform shaping section 153 Turn.Specifically, many rotation detection portion 154 judge from the detection pulse of waveform shaping section 153 output be whether and magnetic field sensor The pulse signal of arbitrary magnetic field sensor 120 correspondence in 120a~120c, and its result be recorded many rotation record portions In 155.Such as, many rotation detection portion 154 are in the case of being the pulse signal corresponding with magnetic field sensor 120a, by " 00 " Data recorded in many rotation record portions 155, in the case of being the pulse signal corresponding with magnetic field sensor 120b, by " 01 " Data recorded and rotate in record portion 155 more, in the case of being the pulse signal corresponding with magnetic field sensor 120c, will The data of " 10 " recorded rotate in record portion 155 more.Further, many rotation detection portion 154 rotate record portion according to record more Data in 155, the rotation of detection encoder axle SH2, and many rotating signals are exported to position data generating section 157.
As it has been described above, in rotation status test section 151, even if not from the situation of external power source supply supply voltage Under, it is also possible to oneself generating produces the electric power for consuming, therefore, it is possible to omit stand-by power supply (such as battery etc.).
Position detection part 156 according to export from the photo detector by optical arrays by optical signal, detection motor electromagnetic portion M's Position, and position signalling is exported to position data generating section 157.
Position data generating unit 157 obtains from the position signalling of position detection part 156 output with from many rotation detection portion 154 Many rotating signals of output.Further, position data generating unit 157, according to the position signalling obtained and many rotating signals, generates position Put data, and the position data of generation is exported control device CT.
Now, position data generating unit 157 is in the case of external power source supply supply voltage, it is also possible to only according to from The position signalling of position detection part 156 output, generates position data.On the other hand, position data generating unit 157 is from outside After the supply voltage of power supply stops, in the case of starting from the supply of the supply voltage of external power source, detecting according to from position The position signalling of portion 156 output and the many rotating signals from the output of many rotation detection portion 154, generate position data.
It addition, the division of each structure in the control portion 150 shown in Fig. 6 described above is an example, it is also possible to be above-mentioned Division beyond situation.
It addition, the structure of the encoder 100 of described above and action are only examples, it is also possible to be the knot beyond above-mentioned situation Structure and action.
<the 3. example of the effect of present embodiment>
The encoder 100 of present embodiment described above have Magnet 111a~111d, magnetic field sensor 120a~ 120c and flux of magnetic induction parts (being pillar part 147a~147c in the above example).Magnetic field sensor 120a~120c The action by the magnetic field energy of length direction component, the magnetic field on direction orthogonal to the longitudinal direction is unrelated with magnetic field intensity, Magnetic field sensor 120a~120c is had little to no effect.Flux of magnetic induction parts (be in the above example pillar part 147a~ 147c) as follows leakage magnetic flux is sensed: make at least one party from motor electromagnetic portion M and electromagnetic brake 200 The side orthogonal with the length direction of magnetic field sensor 120a~120c is become towards the leakage magnetic flux of magnetic field sensor 120a~120c To.Thereby, it is possible to reduce from the leakage magnetic flux of motor electromagnetic portion M and electromotor brake 200 magnetic field sensor 120a~120c Impact.As a result of which it is, improve the accuracy of detection of encoder 100, it is possible to increase motor characteristic.
The most such as, when leakage magnetic flux from center (motor shaft SH1 or bearing 104,106) towards outside radial direction in radiation During shape extension, the length direction component of leakage magnetic flux becomes in the length direction side of magnetic field sensor 120a~120c and opposite side Contrary direction, the magnetic field intensity acting on magnetic field sensor 120a~120c is the most uneven.In this situation Under, owing to the mechanism that manifests of large Barkhusen effect changes, it is therefore possible to cause output waveform to get muddled.Therefore, In the present embodiment, using the magnetic part (being pillar part 147a~147c in the above example) as flux of magnetic induction parts It is configured to the outer circumferential side of the length direction central part of magnetic field sensor 120a~120c.In this case, it is possible to obtain with Under such effect.That is, by said structure, when leakage magnetic flux is from centrally directed radial direction outer expandable, it is possible to feel Should so that leakage magnetic flux is through the central part of magnetic field sensor 120a~120c.Pass thereby, it is possible to make leakage magnetic flux become with magnetic field The direction that the length direction of sensor 120a~120c is substantially orthogonal, therefore prevents the imbalance of above-mentioned magnetic field intensity, it is possible to fall The low impact caused by leakage magnetic flux.
It addition, in the present embodiment, utilize magnetic material to constitute encoder axle SH2, and encoder axle SH2 is configured For relative with magnetic field sensor 120a~120c in the radial direction.In this case, it is possible to obtain following such effect Really.That is, by said structure, at least one party from motor electromagnetic portion M and electromagnetic brake 200 lets out towards encoder 100 side The leakage magnetic flux of leakage concentrates on encoder axle SH2, it is possible to make the magnetic circuit of this leakage magnetic flux be formed as the right part from encoder axle SH2 2R2 rises in magnetic field sensor 120a~120c roundabout.Thereby, it is possible to reduce leakage magnetic flux to magnetic field sensor 120a's~120c Impact.In addition, it is not necessary that use nonmagnetic substance (such as SUS) to constitute to reduce towards the leakage magnetic flux of encoder 100 side Motor shaft SH1, it is not necessary to the crimp shaft being made up of magnetic material (such as ferrum) and nonmagnetic substance, therefore, it is possible to significantly cut down into This.
It addition, in the present embodiment so that encoder axle SH2 and motor shaft SH1 split.In this case, energy The following such effect of enough acquisitions.That is, said structure is passed through, it is possible to encoder 100 is carried out blocking.It addition, by by single The encoder 100 of unitization is arranged on the motor of existing band brake, it is possible to be easily achieved the impact that can reduce leakage magnetic flux Motor with encoder.
It addition, in the present embodiment, it is provided with on the right side of encoder axle SH2 and the direction vertical with left and right directions is made Magnetic sheet parts (being substrate holding part 145 in above-mentioned example) for direction, plate face.In this case, it is possible to obtain Such effect below.That is, said structure is passed through, it is possible to by from motor electromagnetic portion M and the leakage magnetic flux of electromagnetic brake 200 From the right part 2R2 of encoder axle SH2 via magnetic sheet parts (being substrate holding part 145 above-mentioned example) towards half Footpath radially guides outside direction.As a result of which it is, can improve, the magnetic circuit of leakage magnetic flux is formed as at magnetic field sensing Reliability roundabout in device 120a~120c.
It addition, in the present embodiment, magnetic sheet parts are made to become substrate holding part 145.In this case, energy The following such effect of enough acquisitions.That is, said structure is passed through, it is possible to hold a concurrent post magnetic sheet parts and substrate holding part, therefore can Enough reduce number of components.Therefore, it is possible to make servomotor SM miniaturization, reduce cost.It addition, by substrate holding part 145 In the case of being arranged in the left side of substrate 140, it is possible to protection electronic unit is not affected by leakage magnetic flux etc., it is possible to reduce for electricity The external interfering noise of subassembly.
It addition, in the present embodiment so that flux of magnetic induction parts become pillar part 147a~147c.In such feelings Under condition, it is possible to obtain following such effect.That is, said structure is passed through, it is possible to hold a concurrent post flux of magnetic induction parts and pillar part, because of This can reduce number of components.Therefore, it is possible to make servomotor SM miniaturization, reduce cost.
It addition, in optical encoders, angle sensors, it is also possible to produce due to leakage magnetic flux and produce induction electric the most in circuit Gesture and cause under accuracy of detection degradation impact.Therefore, in the present embodiment, encoder 100 is made to become optical encoders, angle sensors, base Plate fixed component 145 has the peristome 145a making photo detector be exposed to left side.In this case, it is possible to below acquisition Such effect.That is, by said structure, will not hinder as optical encoders, angle sensors function.Furthermore it is possible to use opening Portion 145a forms the magnetic circuit of leakage magnetic flux in the way of avoiding circuit.Therefore, above-mentioned impact is reduced, it is possible to increase encoder 100 Accuracy of detection.
It addition, in the present embodiment, encoder cover 102 it is made up of magnetic material.In this case, it is possible to obtain The most such effect.That is, said structure is passed through, it is possible to (be pillar part 147a in the above example by flux of magnetic induction parts ~147c) magnetic circuit of leakage magnetic flux that sensed is formed at the periphery of encoder 100.It addition, encoder cover 102 become for from The shielding part of outside external disturbing field, it is possible to reduce the external disturbance impact on magnetic field sensor 120a~120c.Additionally, The impact on outside electronic unit can be reduced.
It addition, in the present embodiment, encoder 100 has electromagnetic brake 200 with being integrally constituted.In such feelings Under condition, it is possible to there is the encoder of the band brake of electromagnetic brake 200 with being integrally formed.It addition, at the coding of band brake In device, electromagnetic brake 200 and magnetic field sensor 120a~120c are configured to be more nearly, therefore magnetic field sensor 120a~ 120c is more prone to be affected by from the leakage magnetic flux of electromagnetic brake 200.Therefore, more efficient when applying this structure.
<4. variation etc.>
Above, referring to the drawings an embodiment is illustrated in detail.But, the skill described in claims The scope of art thinking is not limited to an embodiment of described above.Obviously, as long as belonging to an embodiment Technical field has the personnel of general knowledge, can expect carrying out in the range of technological thought various change, correction, with And combination etc..Therefore, carried out these change, revise, technology after combination etc. falls within the scope of technological thought certainly.With Under, such variation is illustrated successively.
The situation of shield member (4-1. be configured with between electromagnetic brake and encoder)
Hereinafter, with reference to Fig. 7, one example of the structure of the servomotor SM of this variation is illustrated.Fig. 7 is corresponding with Fig. 2 Figure.
As it is shown in fig. 7, in the servomotor SM of this variation, the most electric between electromagnetic brake 200 and encoder 100 Between shell 220A and the support 108 of encoder 100 of magnetic brake 200, it is configured with the such as annulus being made up of magnetic material The shield member 300 of shape.Shield member 300 is formed through inserting hole 301.Further, shield member 300 is running through insertion hole Run through in the case of being inserted with encoder axle SH2 in 301, be fixed in shell 220A and support by support member (not shown) At least one party in 108.By configuration shield member 300 the most in this wise, it is possible to make from electromagnetic brake 200 not via electricity Arbor SH1 and encoder axle SH2 and be formed at electromagnetic brake 200 to the magnetic circuit of leakage magnetic flux of encoder 100 side leakage and compile Between code device 100.
It addition, insertion hole 301 can also be run through insertion motor shaft SH1 in running through of shield member 300.It addition, such as Encoder 100 be configured to adjacent with motor electromagnetic portion M in the case of, as long as shield member 300 is arranged in motor electromagnetic Between portion M and encoder 100.
In described above variation, it is possible to obtain the effect identical with above-mentioned embodiment.Additionally, in this deformation In example, by configuring shield member 300 between electromagnetic brake 200 and encoder 100, it is possible to utilize this shield member 300 Block the leakage magnetic flux not leaked to encoder 100 side from electromagnetic brake 200 via motor shaft SH1 and encoder axle SH2.Cause This, it is possible to reduce further the impact on magnetic field sensor 120a~120c of the leakage magnetic flux from electromagnetic brake 200.
The situation of coil (4-2. be configured with between electromagnetic brake and encoder)
Hereinafter, with reference to Fig. 8, one example of the structure of the servomotor SM of this variation is illustrated.Fig. 8 is corresponding with Fig. 2 Figure.It addition, in fig. 8, schematically illustrate an example of leakage magnetic flux with heavy solid line arrows, with thick dashed line arrow schematically Illustrate the magnetic flux produced by coil.
As shown in Figure 8, in the servomotor SM of this variation, the most electric between electromagnetic brake 200 and encoder 100 It is configured with coil 400 between shell 220A and the support 108 of encoder 100 of magnetic brake 200.Coil 400 is at motor shaft SH1 Axle center AX on produce from encoder 100 side towards the magnetic flux of electromagnetic brake 200 side, i.e. with from motor electromagnetic portion M and electromagnetism At least one party in brake 200 is towards the rightabout magnetic flux of leakage magnetic flux of encoder 100 side.By configuring the most in this wise Coil 400, it is possible to make the magnetic flux produced by coil 400 and at least one party from motor electromagnetic portion M and electromagnetic brake 200 Cancel each other towards the leakage magnetic flux of encoder 100 side.
It addition, such as encoder 100 be configured to adjacent with motor electromagnetic portion M in the case of, as long as coil 400 is joined Put between motor electromagnetic portion M and encoder 100.Coil 400 is arranged in motor electromagnetic portion M and encoder 100 it In the case of between, coil 400 produces from encoder 100 side towards the magnetic of M side, motor electromagnetic portion on the axle center AX of motor shaft SH1 Logical.
It addition, in this variation, following situation is illustrated: except the 1st hands of explanation in above-mentioned embodiment Outside section and the 2nd means, go back and used the means configuring coil 400 between electromagnetic brake 200 and encoder 100 (following It is properly termed as " the 3rd means "), it is thus achieved that reduce the leakage magnetic flux impact on magnetic field sensor 120 as following description further Effect.But, above-mentioned 3rd means can not also individually use the above-mentioned 3rd with above-mentioned 1st means and the 2nd means use Means, it is also possible to it with any one party in the 1st means and the 2nd means and is used.In these cases, it is also possible to obtain and reduce The leakage magnetic flux effect on the impact of magnetic field sensor 120.
In described above variation, it is possible to obtain the effect identical with above-mentioned embodiment.Additionally, in this deformation In example, by configuring coil 400 between electromagnetic brake 200 and encoder 100, it is possible to make to be produced by this coil 400 Magnetic flux cancels each other with from motor electromagnetic portion M and electromagnetic brake 200 towards the leakage magnetic flux of encoder 100 side, it is possible to further Reduce the leakage magnetic flux impact on magnetic field sensor 120a~120c.
(4-3. other)
Above, it is illustrated as a example by the servomotor SM with electromagnetic brake 200, but not there is electromagnetic brake The servomotor of 200 can also use above-mentioned the 1st means, the 2nd means, the 3rd means, it is possible to obtain with above-mentioned embodiment and The effect that each variation is identical.
It addition, in the above description, exist " vertically ", " orthogonal ", " parallel ", the situation of the contents such as " central " Under, the most proper concept of this contents.That is, these " vertically ", " orthogonal ", " parallel ", " central " etc. allow to deposit In design with the tolerance manufactured and error, represent " substantial orthogonality ", " the most orthogonal ", " substantial parallel ", " essence Upper central authorities ".
It addition, in the above description, there are apparent size or size " identical ", " equal ", " unanimously ", " different " In the case of contents, the most proper concept of this contents.That is, these " identical ", " equal ", " one Cause ", " different " etc. allow to deposit in design with the tolerance manufactured and error, expression " being substantially the same ", " being substantially equal ", " the most consistent ", " being different in essence ".
Label declaration
100: encoder (example of motor encoder);102: encoder cover;111a~111c: Magnet;120a~ 120c: magnetic field sensor;121: magnetic;130: dish;136: light source;140: substrate;145: substrate holding part (magnetic sheet portion One example of part);145a: peristome;147a~147c: pillar part (example of magnet component, an example of flux of magnetic induction parts); 1R: right part (example of end);200: electromagnetic brake;300: shield member;301: run through insertion hole;400: coil;AX: Axle center;M: motor electromagnetic portion;Ra~Rd: rotational trajectory circle;SH1: motor shaft;SH2: encoder axle;SM: servomotor (motor An example).

Claims (15)

1. having a motor for encoder, this motor has:
Motor electromagnetic portion, consists of and makes motor shaft rotate;And
Electromagnetic brake, consists of the braking carrying out described motor shaft,
Described encoder has:
Magnet, it is supported for rotating together with described motor shaft;
Magnetic field sensor, it comprises the magnetic possessing large Barkhusen effect, is configured to detect the magnetic field of described Magnet;And
Flux of magnetic induction parts, its at least one party from described motor electromagnetic portion and described electromagnetic brake towards described magnetic field The leakage magnetic flux of sensor senses so that described leakage magnetic flux becomes the side orthogonal with the length direction of described magnetic field sensor To.
Motor the most according to claim 1, wherein,
It is parallel with the tangential direction of the rotational trajectory of described Magnet circle that described magnetic field sensor is configured to described length direction,
Described flux of magnetic induction parts are the institutes being configured in described magnetic field sensor on the radial direction of described rotational trajectory circle State the magnetic part of the outer circumferential side of length direction central part.
Motor the most according to claim 2, wherein,
Described encoder has the encoder axle being made up of magnetic material, and described encoder axle rotates together with described motor shaft, And described encoder axle is configured on described radial direction relative with described magnetic field sensor.
Motor the most according to claim 3, wherein,
Described encoder axle and described motor shaft split, and described encoder axle is connected to institute in the way of becoming same axle center State the end of motor shaft.
Motor the most according to claim 4, wherein,
Described encoder has magnetic sheet parts, and described magnetic sheet parts are configured in described encoder on described axis direction The side contrary with described motor shaft of axle, described magnetic sheet parts using the direction vertical with described axis direction as plate face side To.
Motor the most according to claim 5, wherein,
Described encoder has the substrate comprising electronic unit, and described magnetic sheet parts are to be configured on described axis direction The described encoder axle side of described substrate, substrate holding part that described substrate is fixed.
Motor the most according to claim 6, wherein,
Described flux of magnetic induction parts are made up of, support the pillar part of described substrate holding part magnetic material.
8. according to the motor described in claim 6 or 7, wherein,
Described encoder has:
Dish, it is connected with described encoder axle;
Light source, consists of and described dish is penetrated light;And
Photo detector, it is arranged on the substrate, is configured to receive the light from described dish,
Described substrate holding part has peristome, and described peristome at least makes described photo detector be exposed to described dish side.
9. according to the motor described in any one in claim 1~8, wherein,
Described encoder has encoder cover, and described encoder cover is made up of magnetic material, receives described Magnet, described magnetic field biography Sensor and described flux of magnetic induction parts.
10. according to the motor described in any one in claim 1~9, wherein,
Described motor also has the shield member being made up of magnetic material, and described shield member is configured in described motor electromagnetic portion Or between described electromagnetic brake and described encoder, described shield member is formed with described motor shaft or described encoder axle Run through insertion hole.
11. according to the motor described in any one in claim 1~10, wherein,
Described motor also has coil, and described coil is configured in described motor electromagnetic portion or described electromagnetic brake and described volume Between code device, described coil is configured to produce from described coder side towards described motor electromagnetic on the axle center of described motor shaft Portion or the magnetic flux of described electromagnetic brake side.
12. 1 kinds of motors with encoder, this motor has:
Motor electromagnetic portion, consists of and makes motor shaft rotate;And
Electromagnetic brake, consists of the braking carrying out described motor shaft,
Described encoder has:
Magnet, it is supported for rotating together with described motor shaft;
Magnetic field sensor, it comprises the magnetic possessing large Barkhusen effect, is configured to detect the magnetic field of described Magnet;And
The encoder axle being made up of magnetic material, it rotates together with described motor shaft, and is configured at described Magnet Rotational trajectory circle radial direction on relative with described magnetic field sensor.
13. 1 kinds of motors with encoder, this motor has:
Motor electromagnetic portion, consists of and makes motor shaft rotate;And
Electromagnetic brake, consists of the braking carrying out described motor shaft,
Described encoder has:
Magnet, it is supported for rotating together with described motor shaft;
Magnetic field sensor, it comprises the magnetic possessing large Barkhusen effect, is configured to detect the magnetic field of described Magnet;And
Coil, it is arranged between described motor electromagnetic portion or described electromagnetic brake and described encoder, is configured to described Produce on the axle center of motor shaft from described coder side towards described motor electromagnetic portion or the magnetic flux of described electromagnetic brake side.
14. 1 kinds of motor encoders used in motor, described motor has motor electromagnetic portion, described motor electromagnetic portion structure Become and make motor shaft rotate, wherein,
Described motor encoder has:
Magnet, it is supported for rotating together with described motor shaft;
Magnetic field sensor, it comprises the magnetic possessing large Barkhusen effect, is configured to detect the magnetic field of described Magnet;And
Flux of magnetic induction parts, it is to from described motor electromagnetic portion and be configured to carry out the electromagnetic brake of the braking of described motor shaft In at least one party sense towards the leakage magnetic flux of described magnetic field sensor so that described leakage magnetic flux becomes and passes with described magnetic field The direction that the length direction of sensor is orthogonal.
15. motor encoders according to claim 14, wherein,
Described motor encoder is provided integrally with described electromagnetic brake.
CN201480077270.0A 2014-10-10 2014-10-10 Motor and motor encoder Active CN106165266B (en)

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CN106165266B (en) 2019-01-08

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