CN106197490A - A kind of absolute type azimuth photoelectric encoder - Google Patents
A kind of absolute type azimuth photoelectric encoder Download PDFInfo
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- CN106197490A CN106197490A CN201610589858.5A CN201610589858A CN106197490A CN 106197490 A CN106197490 A CN 106197490A CN 201610589858 A CN201610589858 A CN 201610589858A CN 106197490 A CN106197490 A CN 106197490A
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- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
Abstract
A kind of absolute type azimuth photoelectric encoder, relates to solar energy tracking, Angle ambiguity sensor, angular surveying and absolute type encoder field.Solve the coding region that hollow out on the metal dish of traditional photoelectric encoder makes, metal code disk insufficient rigidity can be caused to deform, thus cause bigger the error even problem of error code, and engraved structure causes the problem of impact resistance difference of metal code disk.Absolute coding dish of the present invention includes metal code disk and slit plate, the code word region that has of metal code disk is depression or the form of blacking, and to have code word region be non-reflective, region without code word is echo area, when the three circle channel of metal code disk matches with the three of slit plate circle slits respectively, along with metal code disk rotates, three circle slit plates are when running into the non-reflective segment of code channel corresponding on code-disc, present high level state, then have signal to export；When running into reflector segment, present low level state, do not have signal to export.It is mainly used in azimuth determination.
Description
Technical field
The present invention relates to solar energy tracking, Angle ambiguity sensor, angular surveying and absolute type encoder field.
Background technology
In the epoch of current science and technology high speed development, the demand of the energy is never stopped and growing in intensity by people, in the face of main
The exhaustion of chemical energy source, application new forms of energy be the mankind move towards following institute necessary faced by a big theme.Solar energy, underground heat
The series of new energy such as energy, wind energy, nuclear fusion energy become scientific research field deepen continuously research and development utilize important energy source.
And the source of many energy on the solar energy earth especially, even can be called " source of all things on earth " of the earth.Therefore, the most preferably
Study and develop the important topic that solar energy is mankind's scientific research field.At present, the main way of people's Collection utilization solar energy
Footpath is the luminous energy and heat energy utilizing the catcher with focusing mirror or photovoltaic module to be collected in sunlight.Practice card
Bright, among one day, the solar energy that fixed solar panel is collected is less than its preferable maximum.This be by
Resting state in solar panel limits them can accept the region of sunray.If solaode can be allowed
Plate as Helianthi from the motion tracking sun, then it can collect more solar energy source.Therefore, solar energy mistake is being collected
Cheng Zhong, it is to solve requisite premise and the guarantor of solar energy collecting efficiency that solar energy carries out real-time track and localization
Barrier, and as the core parts of solar tracking system, the design studies work of Angle ambiguity sensor is essential.But,
Current most of angular transducer not in full conformity with the condition of solar automatic tracking system and feature, therefore to give the sun
System of following the tracks of provides reliable solar azimuth information, it is necessary on the basis of understanding grasp sensor measurement principle, improve
Design meets the sensor of solar tracking system feature.
It was verified that the generating efficiency of solar panel and its relative angle with the sun have much relations: work as the sun
When the cell panel that can generate electricity is by sunlight direct projection, when i.e. the photosurface of cell panel is vertical with the angle of sunlight line of incidence, its
Electricity is maximum, and generating efficiency is the highest；When the sun offsets, the cell panel of solar electrical energy generation and the angle of sunray can be less than hanging down
Angle time straight, its generated energy will diminish, and, along with this angle is more and more less, generated energy is more and more less.Therefore,
Solar panel generating efficiency to be made improves, and one of its important channel makes solar panel vertical as far as possible in real time exactly
In sunlight line of incidence, and the solar electrical energy generation mode that this holding making solar panel and sunray real-time is vertical,
It it is exactly solar energy tracking generating.
In order to determine the relative angular relationship of solar panel and sunray, solar energy Angle ambiguity sensor needs
At regular intervals, to azimuth and the data of elevation angle of the system of tracking input sunray, tracking system perception is enable
To solar azimuth now, and then adjustment solar panel direction makes it be perpendicular to sunray.
Along with the development in the fields such as the modernization of industry, military project, national defence, scientific research, except improving the principle of absolute encoding dish
Structure, to reach to strengthen code-disc rigidity and the purpose of anti-impact force, in addition it is also necessary to absolute type encoder is to miniaturization, intelligentized side
To development.Reach this purpose, can improve in terms of two, i.e. reduce the radial dimension of code-disc and slit plate,
And the code channel arranged mode on change code-disc.But, after the size reduction of code-disc and slit plate, having of code channel region can be affected
Effect width.In the case of ensureing equal resolution, code channel quantity is constant, can only reduce the width of code channel, so to reduction
The contribution of encoder size is the least and easily increases error.And to ensure that code channel width is constant, code channel quantity can only be reduced again,
Encoder resolution is caused to reduce.
Coding disk is a kind of coding type digital sensor being used widely, and it is directly changed into response tested corner
The detection file of code.Measured angle displacement is converted to the output of some form of digital signal by it, and be otherwise known as absolute encoding
Dish or Weight and disk type encoder.It generally uses binary code coded system to be scribed with the form of code by angle information and forms, and is
Being made up of the groove arranged according to certain rules, there are unique binary system or other scale coding in every corresponding position, therefore exists
Different positions, exportable different digital code, the Angle Position code exported after treatment is the monotropic function of corner.It is also
Can be described as a kind of mechanical type A/D encoder, the digital coding of the angular displacement status of diverse location and coding disk output one a pair
Should.It is that whole circumference is divided into several fan-shaped intervals, and each interval can be by the code channel of not isotopic number, i.e. some arrangements
On same code channel, then read the signal of telecommunication of matrix layout with several read heads, be processed into binary system through one yard of matrix and follow
Ring cycle code.Absolute encoding dish has that fixed zero, capacity of resisting disturbance be strong, restart after power down need not again to zero, without tired
The advantages such as long-pending error.Shortcoming is manufacturing process and debugs complexity, and owing to figure place is corresponding to its number of turns, therefore figure place is the highest, size
The biggest, it is difficult to realize miniaturization.Absolute encoding dish has photo-electric, contact, electromagnetic type and condenser type four kinds.
Currently used coding disk most, that cost performance is best is photo-electric coding disk, wherein used photoelectric sensor
It is that a kind of contactless miniature electric measures equipment, relies on the change detecting its light intensity received, reach the purpose measured.
Owing to it has the advantages such as noncontact, precision height, good reliability, stable performance, volume are little and easy to use, automatically measuring and
Automatic control technology have also been obtained and be widely applied.
Traditional photoelectric coding disk is the sensor directly exporting digital quantity, prolongs radially on its circular code wheel
Having some concentric code channels, by printing opacity with lighttight fan section is alternate forms on Mei Tiao road, the number of sectors of adjacent code channel is double
Times relation, the code channel number on code-disc is exactly the figure place of its binary numeral, is light source in the side of code-disc, and opposite side is corresponding every
One code channel has a light-sensitive element.When code-disc is in diverse location, whether each light-sensitive element is changed out according to by illumination accordingly
Level signal, forms binary number.Absolute encoding dish is to utilize natural binary or circulation binary mode to carry out photoelectricity and turn
Change.Having printing opacity and lighttight bargraphs on the disk of absolute encoding dish, absolute coding dish can have some codings, according to
Read the coding on code-disc, detect absolute position.The design of coding can use binary code, cyclic code, the complement of two's two's complement etc..
Obviously, code channel is the most, and resolution is the highest, and for an encoder with n position binary resolution, its code-disc must have n
Bar code channel.
Photoelectric coded disk is the core parts of absolute optical-electricity encoder, by portraying the code-disc of certain pattern and matching therewith
The slit plate composition closed, the pattern on code-disc is referred to as code channel.It is can be by some on the circle ring area of glass or metal surface
Enclose equally distributed printing opacity or light tight alternate grid shape edge indexing component.Traditional absolute type encoder code-disc coded system is adopted
Using natural binary code mode, n position encoder code disc to have n bar code channel, need figure place the highest, radial dimension is the biggest, shock resistance
Performance is the poorest.But, owing to this structure has an a plurality of code channel and the most overstocked transmissive slit, this engrave on metal dish
The empty method making coding region, can cause metal code disk insufficient rigidity to deform, thus cause bigger error even error code, institute
Not there is the frame for movement of good impact resistance with traditional photoelectric encoder.Therefore, current existing metal dish coding
Device is all limited as increment type coding disk, significantly limit its application scenario.
Summary of the invention
The present invention is to solve the coding region that on the metal dish of traditional photoelectric encoder, hollow out makes, can cause metal
Code-disc insufficient rigidity and deform, thus cause bigger the error even problem of error code, and engraved structure cause metal code disk
The problem of impact resistance difference, the invention provides a kind of absolute type azimuth photoelectric encoder.
A kind of absolute type azimuth photoelectric encoder, including processing circuit, luminous tube, photodiode, main shaft and definitely
Coding disk, absolute coding dish includes slit plate and metal code disk, and slit plate is identical with metal code disk size, having of metal code disk
Code word region is depression or the form of blacking,
Slit plate and metal code disk are installed in parallel on main shaft, there is axial running clearance between slit plate and metal code disk,
Metal code disk follows main axis, and slit plate keeps resting state,
Processing circuit to be used for providing electric energy to luminous tube, the light that luminous tube sends is incident to gold through the slit on slit plate
Belong on the code channel of code-disc, after the regional reflex without code word on metal code disk code channel, pass back through the slit on slit plate incident
To photodiode, photodiode carries out photoelectric conversion to the optical signal received, and processes circuit and carries out the signal of telecommunication received
Numeral converts, and is decoded into angle signal；
Described absolute coding dish, is used for measuring azimuth.
Described metal code disk is azimuth code-disc, and slit plate is azimuth slit plate；
On the code-disc of azimuth, it is sequentially provided with three circle channel from the inside to the outside, is followed successively by first lap metal code channel, the second circle metal
Code channel and the 3rd circle metal code channel, and set metal code disk with geographical direction, due south as 0 °, angle, θ is gradually increased clockwise
To 360 °,
First lap metal code channel:
In region, 135 ° and 315 ° ＜ θ≤360 ° of 0 ° of ＜ θ ＜, all regions without code word；
In region, 135 °≤θ≤315 °, all have code word region；
Second circle metal code channel:
In the region of 0 ° of ＜ θ ＜ 90 °, including 16 rectangle code bits, and 16 rectangle code bits are equal in its region
Even distribution, is defined as between the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits existence the most successively
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,10
It is without code word region with 12 rectangle code bits；
In the region of 90 ° of ＜ θ ＜ 180 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is defined as the 1st to 16 rectangle code bits the most successively, and two adjacent rectangular code interdigits exist
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,
10 and 12 rectangle code bits are without code word region；
In the region of 180 ° of ＜ θ ＜ 270 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is respectively defined as the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits the most successively
There is gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,
6,7,10 and 12 rectangle code bits are without code word region；
In the region of 270 ° of ＜ θ≤360 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is respectively defined as the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits the most successively
There is gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,
6,7,10 and 12 rectangle code bits are without code word region；
3rd circle metal code channel:
In the region of 0 ° of ＜ θ≤360 °, it is evenly divided into 128 parts of equal sector regions along clockwise direction, 128
Part equal sector region includes that 64 parts have code word region and 64 parts without code word region, and 64 parts have code word region and 64 parts of nothings
Code word region alternately, is gone up without code word region along clockwise direction near 0 °；
Azimuth slit plate is sequentially provided with three circle channel from the inside to the outside, is followed successively by first lap slit code channel, the second circle slit
Code channel and the 3rd circle slit code channel, and set slit plate with geographical direction, due south as 0 °, angle, θ is gradually increased clockwise
360°；First lap slit code channel is provided with 2 slits, respectively slit a1With slit a2, slit a1It is positioned at the code channel half at 0 ° of place
On footpath, slit a2It is positioned on the code channel radius at 90 ° of places；
Second circle slit code channel is provided with 4 slits, respectively slit b1, slit b2, slit b3With slit b4, slit b1It is positioned at
On the code channel radius at 2.8 ° of places, slit b2It is positioned on the code channel radius at 8.4 ° of places, slit b3It is positioned at the code channel at 14.0 ° of places
On radius, slit b4It is positioned on the code channel radius at 19.6 ° of places；
3rd circle slit code channel is provided with 2 slits, respectively slit c1 and slit c2, and slit c1 is positioned at the code channel at 0 ° of place
On radius, slit c2 is positioned on the code channel radius at 1.4 ° of places；
Three circle channel on metal code disk is oppositely arranged with the three circle channel on slit plate.
Preferably, described 0 ° of position between the second circle metal code channel and the 3rd circle metal code channel is provided with a verification
Code bit, this verification code bit is for there being code word region, and this verification code bit is used as inspection and the correction of metal code disk initial position.
Preferably, the width of described verification code bit is less than the half of rectangular code bit width on the 3rd circle metal code channel.
Preferably, described 0 ° of position between the second circle slit code channel and the 3rd circle slit code channel is provided with slit a0,
Slit a0Width be 1 °, slit a0Inspection and correction as slit plate initial position.
Preferably, described slit a0Width more than the width of slit on the 3rd circle slit code channel, and less than the second circle
The width of slit on slit code channel.
Preferably, described slit c1 is identical with the width of slit c2, slit b1, slit b2, slit b3With slit b4Width
Spend identical, slit a1With slit a2Width identical.
Preferably, on the second described circle metal code channel, the width of all of rectangle code bit is identical, and the width of rectangle code bit
Degree is more than the width of rectangular code interdigit gap.
Preferably, on the second described circle metal code channel, the width of rectangle code bit is more than slit on the second circle slit code channel
Width, the 3rd circle metal code channel has the width in code word region more than the width of slit on the 3rd circle slit code channel.
Preferably, the width of slit on described first lap slit code channel, the second circle slit code channel and the 3rd circle slit code channel
Degree is sequentially reduced.
Principle analysis: absolute coding dish of the present invention includes metal code disk and slit plate.It is parallel to each other between the two and keeps
Certain gap, is arranged on code-disc on main shaft so that it is with encoder main axis, be arranged in main body by slit plate so that it is
Relative encoder's main shaft maintains static, angle in relative rotation between code-disc and slit plate, represents solar energy azimuth, exports generation
Code records the angular displacement position of code-disc main axis.
The code word region that has of metal code disk is depression or the form of blacking, and to have code word region be non-reflective, without code word
Region is echo area, when the three circle channel of metal code disk matches with the three of slit plate circle slits respectively, along with metal code disk
Rotating, three circle slit plates, when running into the non-reflective segment of code channel corresponding on code-disc, present high level state, then have signal
Output；When running into reflector segment, present low level state, do not have signal to export.Photodiode is utilized to receive signal, by its point
The position that cloth is corresponding under slit plate often encloses slit, then by integrated for an all of photodiode read head, and signal
Transmission is to processing circuit.
Absolute type azimuth of the present invention photoelectric encoder, can pass through the reading that 8 photodiodes are integrated
Several the resulting code words of measurement is combined, be transferred to process circuit；After process circuit receives azimuth code character, according to
Decoding rule is transferred to readable digital angle signal.
Traditional hollowed-out translucent absolute type encoder, referring specifically to Fig. 1, traditional hollowed-out translucent absolute type is compiled by the present invention
Code-disc design changes the absolute coding dish of luminous reflectance formula into, and the coding disk structural principle of improvement is as shown in Figure 3 and Figure 4.
Structure after improvement is still by main shaft, metal code disk, slit plate, photo-electroluminescence pipe, photodiode and process electricity
Road forms, and metal code disk and slit plate are arranged on main shaft, and slit plate maintains static, and metal code disk together rotates with main shaft.
The present invention brings and provides the benefit that, the present invention is different from Traditional photovoltaic formula coder structure, and this structure mainly will
The codeword portions of former hollow out changes depression or blacking into, and to coding disk again layout, thus can increase the firm of metal code disk
Property intensity, the more important thing is simultaneously this structure can simplify frame for movement, reduce manufacture difficulty, save cost of manufacture.
Owing to the slit of hollow out is few needed for slit plate, it is not result in that its rigid excessively reduces, so slit plate
Design can also be identical with the slit plate of traditional optical-electricity encoder.
Accompanying drawing explanation
Fig. 1 is traditional hollowed-out translucent absolute type encoder,
Fig. 2 is the principle schematic of a kind of absolute type azimuth of the present invention photoelectric encoder；
Fig. 3 is the principle schematic of code channel layout on metal code disk；
Fig. 4 is the principle schematic of code channel layout on slit plate；
Fig. 5 is coding disk principle schematic.
Fig. 6 is the experimental result schematic diagram of the initial position 0 ° of absolute coding dish；
Fig. 7 is the experimental result schematic diagram of the initial position 45 ° of absolute coding dish；
Fig. 8 is the experimental result schematic diagram of the initial position 135 ° of absolute coding dish；
Fig. 9 is the experimental result schematic diagram of the initial position 102 ° of absolute coding dish；
Figure 10 is the experimental result schematic diagram of the initial position 146.8 ° of absolute coding dish.
Detailed description of the invention
Detailed description of the invention one: see Fig. 2 and present embodiment is described, a kind of absolute type azimuth described in present embodiment
Photoelectric encoder, including processing circuit 1, luminous tube 2, photodiode 3, main shaft 4 and absolute coding dish, it is characterised in that absolutely
Coding disk is included slit plate 5 and metal code disk 6, and slit plate 5 is identical with metal code disk 6 size, metal code disk 6 have code word
Region is depression or the form of blacking,
Slit plate 5 and metal code disk 6 are installed in parallel on main shaft 4, there is axially work between slit plate 5 and metal code disk 6
Gap, metal code disk 6 follows main shaft 4 and rotates, and slit plate 5 keeps resting state,
Processing circuit 1 to be used for providing electric energy to luminous tube 2, the light that luminous tube 2 sends is incident through the slit on slit plate 5
To the code channel of metal code disk 6, after the regional reflex without code word on metal code disk 6 code channel, pass back through on slit plate 5 is narrow
Sewing up and be incident upon photodiode 3, photodiode 3 carries out photoelectric conversion to the optical signal received, and processes the circuit 1 electricity to receiving
Signal carries out numeral conversion, and is decoded into angle signal；
Described absolute coding dish, is used for measuring azimuth.
In present embodiment, metal code disk 6 includes code word region and without code word region.
Absolute coding dish of the present invention includes metal code disk and slit plate.It is parallel to each other between the two and keeps certain seam
Gap, is arranged on code-disc on main shaft so that it is with encoder main axis, be arranged in main body by slit plate so that it is relative coding
Device main shaft maintains static, angle in relative rotation between code-disc and slit plate, represents solar energy azimuth, and output code records
The angular displacement position of code-disc main axis.
The code word region that has of metal code disk 6 is depression or the form of blacking, and to have code word region be non-reflective, without code word
Region is echo area, when the three circle channel of metal code disk matches with the three of slit plate circle slits respectively, along with metal code disk
Rotating, three circle slit plates, when running into the non-reflective segment of code channel corresponding on code-disc, present high level state, then have signal
Output；When running into reflector segment, present low level state, do not have signal to export.Photodiode is utilized to receive signal, by its point
The position that cloth is corresponding under slit plate often encloses slit, then by integrated for an all of photodiode read head, and signal
Transmission is to processing circuit 1.
Detailed description of the invention two: see Fig. 3 and 4 explanation present embodiment, present embodiment and detailed description of the invention one institute
The difference of a kind of absolute type azimuth photoelectric encoder stated is, described metal code disk 6 is azimuth code-disc, slit plate 5
For azimuth slit plate；
On the code-disc of azimuth, it is sequentially provided with three circle channel from the inside to the outside, is followed successively by first lap metal code channel 6-1, the second circle
Metal code channel 6-2 and the 3rd circle metal code channel 6-3, and set metal code disk 6 with geographical direction, due south as 0 °, angle, θ is clockwise
Direction is gradually increased to 360 °,
First lap metal code channel 6-1:
In region, 135 ° and 315 ° ＜ θ≤360 ° of 0 ° of ＜ θ ＜, all regions without code word；
In region, 135 °≤θ≤315 °, all have code word region；
Second circle metal code channel 6-2:
In the region of 0 ° of ＜ θ ＜ 90 °, including 16 rectangle code bits, and 16 rectangle code bits are equal in its region
Even distribution, is defined as between the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits existence the most successively
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,10
It is without code word region with 12 rectangle code bits；
In the region of 90 ° of ＜ θ ＜ 180 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is defined as the 1st to 16 rectangle code bits the most successively, and two adjacent rectangular code interdigits exist
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,
10 and 12 rectangle code bits are without code word region；
In the region of 180 ° of ＜ θ ＜ 270 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is respectively defined as the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits the most successively
There is gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,
6,7,10 and 12 rectangle code bits are without code word region；
In the region of 270 ° of ＜ θ≤360 °, including 16 rectangle code bits, and 16 rectangle code bits are in its region
It is uniformly distributed, is respectively defined as the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits the most successively
There is gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,
6,7,10 and 12 rectangle code bits are without code word region；
3rd circle metal code channel 6-3:
In the region of 0 ° of ＜ θ≤360 °, it is evenly divided into 128 parts of equal sector regions along clockwise direction, 128
Part equal sector region includes that 64 parts have code word region and 64 parts without code word region, and 64 parts have code word region and 64 parts of nothings
Code word region alternately, is gone up without code word region along clockwise direction near 0 °；
Azimuth slit plate is sequentially provided with three circle channel from the inside to the outside, be followed successively by first lap slit code channel 5-1, second circle narrow
Seam code channel 5-2 and the 3rd circle slit code channel 5-3, and set slit plate 5 with geographical direction, due south as 0 °, angle, θ is clockwise
It is gradually increased 360 °；First lap slit code channel 5-1 is provided with 2 slits, respectively slit a1With slit a2, slit a1It is positioned at 0 °
On the code channel radius at place, slit a2It is positioned on the code channel radius at 90 ° of places；
Second circle slit code channel 5-2 is provided with 4 slits, respectively slit b1, slit b2, slit b3With slit b4, slit b1
It is positioned on the code channel radius at 2.8 ° of places, slit b2It is positioned on the code channel radius at 8.4 ° of places, slit b3It is positioned at 14.0 ° of places
On code channel radius, slit b4It is positioned on the code channel radius at 19.6 ° of places；
3rd circle slit code channel 5-3 is provided with 2 slits, respectively slit c1 and slit c2, and slit c1 is positioned at 0 ° of place
On code channel radius, slit c2 is positioned on the code channel radius at 1.4 ° of places；
Three circle channel on metal code disk 6 is oppositely arranged with the three circle channel on slit plate 5.
Present embodiment, c1 is 0 ° of position, and c2 is 1.4 ° of positions, unlike first lap slit code channel structure, due to
The fine degree of the 3rd circle slit code channel is higher, the 3rd circle slit width many narrower than first lap slit.
Present embodiment, in Fig. 3 black region represent can not reflect light back into photodiode have a code word region, right
Answering the signal that photodiode reads is " 1 ", other white portion be can reflect light back into photodiode without code word
Region, the signal that corresponding photodiode is read is " 0 ", and for determining azimuthal concrete numerical value, we set code-disc with geography
Direction, due south is 0 °, and angle is gradually increased clockwise.Code-disc is delineated three circle channel, inner ring is respectively first to outer ring
Circle, the second circle and three circle channel.
In sum, collect and obtain slit plate 5 and metal code disk 6 operation principle schematic diagram as shown in Figure 5.By metal code disk
See " 0 " signal as without code word region on 6, have code word region to see " 1 " signal as.Then the first lap code channel of metal code disk 6 is every
Turning over 90 °, the signal that encoder obtains is two Gray codes of 00,01,11,10 respectively；Second circle code channel of code-disc often turns over
5.625 °, the signal that encoder obtains is 0000 respectively, 0001,0010,0100,1001,0011,0110,1101,1010,
0101, the four lt shift codes of 1011,0111,1111；The three circle channel of code-disc often turns over 1.4 °, the letter that encoder obtains
Number it is two Gray codes of 00,01,11,10 respectively.
Detailed description of the invention three: see Fig. 3 and 4 explanation present embodiment, present embodiment and detailed description of the invention two institute
The difference of a kind of absolute type azimuth photoelectric encoder stated is, described is golden at the second circle metal code channel 6-2 and the 3rd circle
Belonging to 0 ° of position between code channel 6-3 and be provided with a verification code bit, this verification code bit is for there being code word region, and this verification code bit is used as gold
Belong to inspection and the correction of code-disc 6 initial position.
Present embodiment, described 0 ° of position between the second circle metal code channel 6-2 and the 3rd circle metal code channel 6-3 sets
Have one verification code bit, this verification code bit for there being code word region, this verification code bit be used as metal code disk 6 initial position inspection with
Correction, under the common effect of three circle channel, can make azimuth angular encoders read the angle resulting code words reaching required precision.
Detailed description of the invention four: see Fig. 3 and Fig. 4 and present embodiment, present embodiment and detailed description of the invention three are described
The difference of described a kind of absolute type azimuth photoelectric encoder is, the width of described verification code bit is less than the 3rd circle metal
The half of rectangular code bit width on code channel 6-3.
Present embodiment, the width of described verification code bit is less than rectangular code bit width on the 3rd circle metal code channel 6-3
Half, it is ensured that the width of verification code bit, less than precision width, makes azimuth angular encoders carry out initial position in required precision
Inspection and correction.
Detailed description of the invention five: see Fig. 3 and Fig. 4 and present embodiment, present embodiment and detailed description of the invention two are described
The difference of described a kind of absolute type azimuth photoelectric encoder is, described encloses at the second circle slit code channel 5-2 and the 3rd
0 ° of position between slit code channel 5-3 is provided with slit a0, slit a0Width be 1 °, slit a0As slit plate 5 initial position
Inspection and correction.
Present embodiment, 0 ° of position in the middle of the second circle slit code channel 5-2 and the 3rd circle slit code channel 5-3 has one article wide
Degree is the slit a of 1 °0, as inspection and the correction of slit plate 5 initial position.Under the common effect of three circle slits, can make
The light that luminous tube sends passes through slit plate, is radiated on code-disc according to the arrangement of slit array, and finally reflection light is again by narrow
Signal is passed to photodiode by seam dish, makes encoder read the angle resulting code words reaching required precision.
Detailed description of the invention six: see Fig. 3 and Fig. 4 and present embodiment, present embodiment and detailed description of the invention five are described
The difference of described a kind of absolute type azimuth photoelectric encoder is, described slit a0Width more than the 3rd circle slit code
The width of slit on road 5-3, and less than the width of slit on the second circle slit code channel 5-2.
Present embodiment, described slit a0Width more than the width of slit on the 3rd circle slit code channel 5-3, and be less than
On second circle slit code channel 5-2, the width of slit, enables azimuth angular encoders to read information of check code like clockwork so that it is
Initial position is carried out correct inspection and correction.
Detailed description of the invention seven: see Fig. 3 and Fig. 4 and present embodiment, present embodiment and detailed description of the invention two are described
The difference of described a kind of absolute type azimuth photoelectric encoder is, described slit c1 is identical with the width of slit c2, narrow
Seam b1, slit b2, slit b3With slit b4Width identical, slit a1With slit a2Width identical.
Detailed description of the invention eight: see Fig. 3 and Fig. 4 and present embodiment, present embodiment and detailed description of the invention two are described
The difference of described a kind of absolute type azimuth photoelectric encoder is, all of square on the second described circle metal code channel 6-2
The width of shape code position is identical, and the width of rectangle code bit is more than the width of rectangular code interdigit gap.
Detailed description of the invention nine: present embodiment and a kind of absolute type orientation described in detailed description of the invention two, seven or eight
The difference of angle photoelectric encoder is, on the second described circle metal code channel 6-2, the width of rectangle code bit is more than the second circle slit
The width of slit on code channel 5-2, the 3rd circle metal code channel 6-3 has the width in code word region more than the 3rd circle slit code channel 5-3
The width of upper slit.
Detailed description of the invention ten: present embodiment is compiled with a kind of absolute type azimuth photoelectricity described in detailed description of the invention two
The difference of code device is, on described first lap slit code channel 5-1, the second circle slit code channel 5-2 and the 3rd circle slit code channel 5-3
The width of slit is sequentially reduced.
Checking test:
Inventive encoder carries out 0 °, two specific positions of initial position 45.0 °, 135.0 ° and two general positions respectively
Put 102.5 °, 146.8 ° of totally five emulation experiments.
The experimental result that initial position is 0 ° as shown in Figure 6, by figure it can be clearly seen that slit a0Reading is 1, and other is narrow
Seam is 0, i.e. processes the I that circuit 1 obtains1Signal is 00000000, therefore, it can directly judge that its angle value θ is 0 °.
As it is shown in fig. 7, as seen from the figure, initial position inspection slit is 0 to the experimental result that specific position is 45.0 °, therefore coding
Device is in angular surveying state, and other slit has character signal, processes the I that circuit 1 receives1Signal is 01101000, according to
Decoding principle measure angular interval be [45.0 °, 46.4 °), taking the meansigma methods at two ends, interval, to obtain measurement result θ be 45.7 °, result
In the range of precision prescribed.
As shown in Figure 8, as seen from the figure, initial position inspection slit is 0 to the experimental result that specific position is 135.0 °, therefore coding
Device is in angular surveying state, and other slit has character signal, processes the I that circuit 1 receives1Signal is 11101000, according to
Decoding is derived and is understood, measure angular interval be [135.0 °, 136.4 °), the meansigma methods taking two ends, interval obtains measurement result θ and is
135.7 °, result is in the range of precision prescribed.
As it is shown in figure 9, as seen from the figure, initial position inspection slit is 0 to the experimental result that general position is 102.5 °, therefore sensing
Device is in angular surveying state, and other slit has character signal, processes the I that circuit 1 receives1Signal is 01001000, according to
Decoding is derived and is understood, measure angular interval be [101.25 °, 102.66 °), the meansigma methods taking two ends, interval obtains measurement result θ and is
102.0 °, result is in the range of precision prescribed.
As shown in Figure 10, as seen from the figure, initial position inspection slit is 0 to the experimental result that general position is 146.8 °, therefore passes
Sensor is in angular surveying state, and other slit has character signal, processes the I that circuit 1 receives1Signal is 11101100, root
According to decoding derive understand, measure angular interval be [146.25 °, 147.66 °), take interval two ends meansigma methods obtain measurement result θ
Being 147.0 °, result is in the range of precision prescribed.
Above-mentioned five experiments all reach precision prescribed, and gross error do not occur, it can be considered that of the present invention
A kind of absolute type azimuth photoelectric encoder and absolute coding drive close design requirement.
The structure of a kind of absolute type azimuth of the present invention photoelectric encoder is not limited to the respective embodiments described above and is remembered
The concrete structure carried, it is also possible to be the reasonable combination of technical characteristic described in the respective embodiments described above.
Claims (10)
1. an absolute type azimuth photoelectric encoder, including processing circuit (1), luminous tube (2), photodiode (3), main shaft
(4) and absolute coding dish, it is characterised in that absolute coding dish includes slit plate (5) and metal code disk (6), and slit plate (5) and
Metal code disk (6) size is identical, and the code word region that has of metal code disk (6) is depression or the form of blacking,
Slit plate (5) and metal code disk (6) are installed in parallel on main shaft (4), there is axle between slit plate (5) and metal code disk (6)
To the working clearance, metal code disk (6) is followed main shaft (4) and is rotated, and slit plate (5) keeps resting state,
Processing circuit (1) to be used for providing electric energy to luminous tube (2), the light that luminous tube (2) sends is through the slit on slit plate (5)
It is incident on the code channel of metal code disk (6), after the regional reflex without code word on metal code disk (6) code channel, passes back through slit
Slit on dish (5) is incident to photodiode (3), and photodiode (3) carries out photoelectric conversion to the optical signal received, and processes
Circuit (1) carries out numeral conversion to the signal of telecommunication received, and is decoded into angle signal；
Described absolute coding dish, is used for measuring azimuth.
A kind of absolute type azimuth the most according to claim 1 photoelectric encoder, it is characterised in that described metal code disk
(6) being azimuth code-disc, slit plate (5) is azimuth slit plate；
On the code-disc of azimuth, it is sequentially provided with three circle channel from the inside to the outside, is followed successively by first lap metal code channel (6-1), the second circle gold
Belonging to code channel (6-2) and the 3rd circle metal code channel (6-3), and set metal code disk (6) with geographical direction, due south as 0 °, angle, θ is suitable
Clockwise is gradually increased to 360 °,
First lap metal code channel (6-1):
In region, 135 ° and 315 ° ＜ θ≤360 ° of 0 ° of ＜ θ ＜, all regions without code word；
In region, 135 °≤θ≤315 °, all have code word region；
Second circle metal code channel (6-2):
In the region of 0 ° of ＜ θ ＜ 90 °, including 16 rectangle code bits, and 16 rectangle code bits are uniformly divided in its region
Cloth, is defined as the 1st to 16 rectangle code bits the most successively, and two adjacent rectangular code interdigits exist gap,
5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,10 and
12 rectangle code bits are without code word region；
In the region of 90 ° of ＜ θ ＜ 180 °, including 16 rectangle code bits, and 16 rectangle code bits are uniform in its region
Distribution, is defined as between the 1st to 16 rectangle code bits, and two adjacent rectangular code interdigits existence the most successively
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,10
It is without code word region with 12 rectangle code bits；
In the region of 180 ° of ＜ θ ＜ 270 °, including 16 rectangle code bits, and 16 rectangle code bits are uniform in its region
Distribution, is respectively defined as the 1st to 16 rectangle code bits the most successively, and two adjacent rectangular code interdigits exist
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,
10 and 12 rectangle code bits are without code word region；
In the region of 270 ° of ＜ θ≤360 °, including 16 rectangle code bits, and 16 rectangle code bits are uniform in its region
Distribution, is respectively defined as the 1st to 16 rectangle code bits the most successively, and two adjacent rectangular code interdigits exist
Gap, the 5th, 8,9,11,13,14,15 and 16 rectangle code bits for there being code word region, all of gap and the 1st, 2,3,4,6,7,
10 and 12 rectangle code bits are without code word region；
3rd circle metal code channel (6-3):
In the region of 0 ° of ＜ θ≤360 °, it is evenly divided into 128 parts of equal sector regions along clockwise direction, 128 parts of phases
Deng sector region include that 64 parts have code word region and 64 parts without code word region, and 64 parts have code word region and 64 parts without code word
Region alternately, is gone up without code word region along clockwise direction near 0 °；
Azimuth slit plate is sequentially provided with three circle channel from the inside to the outside, is followed successively by first lap slit code channel (5-1), the second circle slit
Code channel (5-2) and the 3rd circle slit code channel (5-3), and set slit plate (5) with geographical direction, due south as 0 °, angle, θ is clockwise
Direction is gradually increased 360 °；First lap slit code channel (5-1) is provided with 2 slits, respectively slit a1With slit a2, slit a1
It is positioned on the code channel radius at 0 ° of place, slit a2It is positioned on the code channel radius at 90 ° of places；
Second circle slit code channel (5-2) is provided with 4 slits, respectively slit b1, slit b2, slit b3With slit b4, slit b1Position
On the code channel radius at 2.8 ° of places, slit b2It is positioned on the code channel radius at 8.4 ° of places, slit b3It is positioned at the code at 14.0 ° of places
On road radius, slit b4It is positioned on the code channel radius at 19.6 ° of places；
3rd circle slit code channel (5-3) is provided with 2 slits, respectively slit c1 and slit c2, and slit c1 is positioned at the code at 0 ° of place
On road radius, slit c2 is positioned on the code channel radius at 1.4 ° of places；
Three circle channel on metal code disk (6) is oppositely arranged with the three circle channel on slit plate (5).
A kind of absolute type azimuth the most according to claim 2 photoelectric encoder, it is characterised in that described encloses second
0 ° of position between metal code channel (6-2) and the 3rd circle metal code channel (6-3) is provided with a verification code bit, and this verification code bit is for having
Code word region, this verification code bit is used as inspection and the correction of metal code disk (6) initial position.
A kind of absolute type azimuth the most according to claim 3 photoelectric encoder, it is characterised in that described verification code bit
Width less than the half of the 3rd upper rectangular code bit width of circle metal code channel (6-3).
A kind of absolute type azimuth the most according to claim 2 photoelectric encoder, it is characterised in that described encloses second
0 ° of position between slit code channel (5-2) and the 3rd circle slit code channel (5-3) is provided with slit a0, slit a0Width be 1 °, slit
a0Inspection and correction as slit plate (5) initial position.
A kind of absolute type azimuth the most according to claim 5 photoelectric encoder, it is characterised in that described slit a0's
Width is more than the width of the 3rd upper slit of circle slit code channel (5-3), and encloses the width of the upper slit of slit code channel (5-2) less than second
Degree.
A kind of absolute type azimuth the most according to claim 2 photoelectric encoder, it is characterised in that described slit c1 and
The width of slit c2 is identical, slit b1, slit b2, slit b3With slit b4Width identical, slit a1With slit a2Width phase
With.
A kind of absolute type azimuth the most according to claim 2 photoelectric encoder, it is characterised in that the second described circle gold
The width belonging to the upper all of rectangle code bit of code channel (6-2) is identical, and the width of rectangle code bit is more than the width of rectangular code interdigit gap.
9. according to a kind of absolute type azimuth photoelectric encoder described in claim 2,7 or 8, it is characterised in that described
The width of the two upper rectangle code bits of circle metal code channel (6-2) is more than the width of the second upper slit of circle slit code channel (5-2), the 3rd circle gold
Belong to the width having code word region on code channel (6-3) width more than the 3rd upper slit of circle slit code channel (5-3).
A kind of absolute type azimuth the most according to claim 2 photoelectric encoder, it is characterised in that described first lap
The width of slit code channel (5-1), the second circle slit code channel (5-2) and the upper slit of the 3rd circle slit code channel (5-3) is sequentially reduced.
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| CN115493628A (en) * | 2022-11-16 | 2022-12-20 | 惠州市正牌科电有限公司 | Code disc, gray code encoder and encoding method thereof |
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