CN108426593A - A kind of high response high-resolution dual coding system absolute value encoder - Google Patents
A kind of high response high-resolution dual coding system absolute value encoder Download PDFInfo
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- CN108426593A CN108426593A CN201710081134.4A CN201710081134A CN108426593A CN 108426593 A CN108426593 A CN 108426593A CN 201710081134 A CN201710081134 A CN 201710081134A CN 108426593 A CN108426593 A CN 108426593A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- 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
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Abstract
The invention discloses a kind of high response high-resolution dual coding system absolute value encoders, include carving road group, interior double gradual change helicals quarter road groups, ccd image sensor and ccd image sensor mounting base by outer double gradual change helicals of code-disc to constitute absolute encoding system, and carve road group, reflection sensor and reflection sensor seat by the equidistant striped of code-disc and constitute increment type coded system；Code-disc is equipped with centre bore and location hole, code-disc is fixed by centre bore and location hole with output shaft positioning, the inner ring tight fit of output shaft and output shaft bearing, the outer ring of output shaft bearing and fixing bracket tight fit, ccd image sensor is fixed by ccd image sensor mounting base with fixing bracket, and reflection sensor is fixed by reflection sensor mounting base with fixing bracket.The present invention solves conventional codec and needs homing action or the problems such as response speed is slow under high definition case, have many advantages, such as high speed, high-resolution, high reliability.
Description
Technical field
The present invention relates to encoder techniques fields more particularly to a kind of high response high-resolution dual coding system absolute value to compile
Code device.
Background technology
Currently, encoder type in the market is broadly divided into incremental encoder and absolute type encoder two major classes.
The position of incremental encoder is that the number of pulses calculated since zero mark determines, its advantage is that when operation
Have high resolution ratio and high-precision while can also have faster response speed, but the disadvantage is that every time booting have to find
Zero mark, therefore machine must have the action of reset.
And the position of absolute type encoder is determining by the reading of output code.In a circle, the output of each position
The reading of code is unique.Therefore, when power supply disconnects, absolute type encoder is not detached with actual position.If electric
Source is again switched on, then position readings are still current, effectively, unlike incremental encoder, it is necessary to look for zero-bit mark
Note.Therefore incremental encoder power-off restarting can not know absolute position, need to reset every time, and absolute type encoder exists
After power-off restarting it will also be appreciated that accurate absolute position, need not reset again, especially in terms of the sector application of robot,
It is more adaptable.But current absolute type encoder is since the data volume of operation is huge, system complex, and there are high-speed cruising mistakes
Slower situation is responded in journey, and then does not still meet the application demand of higher and higher resolution ratio under the conditions of high-speed cruising.
Invention content
In view of the drawbacks described above of the prior art, technical problem to be solved by the invention is to provide height to respond high-resolution
Dual coding system absolute value encoder has done conventional codec innovative design, take full advantage of incremental encoder and
The respective advantage and feature of absolute type encoder solves conventional delta formula encoder and homing action or absolute type is needed to compile
Code device the problems such as response speed is slow under high definition case, while the design has high speed (high responsiveness), high-resolution, height
Reliability, it is small, at low cost the advantages that.
To achieve the above object, the present invention provides a kind of high response high-resolution dual coding system absolute value encoder,
It is characterized in that：Including code-disc, ccd image sensor, ccd image sensor mounting base, reflection sensor, reflection-type sensing
Device seat, fixing bracket, output shaft, output shaft bearing；The roads You Sanzuke on the code-disc are that outer double gradual change helicals carve road respectively
Group, interior double gradual change helicals carve road group and equidistant striped carves road group, and outer double gradual change helicals of wherein code-disc carve road group, interior double gradual changes
Helical carves road group, ccd image sensor and ccd image sensor mounting base constitute absolute encoding system, code-disc it is equal between
Road group, reflection sensor and reflection sensor seat, which are carved, away from striped constitutes increment type coded system；The code-disc is equipped with
Centre bore and location hole, the code-disc are fixed by centre bore and location hole with output shaft positioning, output shaft and output shaft bearing
Inner ring tight fit, the outer ring of output shaft bearing and fixing bracket tight fit, ccd image sensor pass through ccd image sensor
Mounting base is fixed with fixing bracket, and reflection sensor is fixed by reflection sensor mounting base with fixing bracket.
Further, there are one linear detections to incude window for setting on the ccd image sensor, detects induction window
Direction of the mouth out of code-disc circumference extroversion circumference is detected scan outer double gradual change helicals quarter road groups respectively, equidistant striped carves road
Group and interior double gradual change helicals carve road group.
Further, the ccd image sensor mounting base is equipped with ccd image sensor location hole and ccd image passes
Sensor mounting hole, can be made by location hole the linear detection induction window of ccd image sensor direction and code-disc it is straight
Diameter direction is at a small angle.
Further, outer double gradual change helicals on the code-disc are carved road group and are made of two spiral reflective quarter road bands,
The radial width sum of two quarter road band any one circumferential position is equal.
Further, interior double gradual change helicals quarter road groups are similar to outer double gradual change helicals quarter road groups, and gradually by two
The radial width sum of spiral reflective any one circumferential position of quarter road band composition Qie Liangke road bands become is also phase
Deng.
Further, the equidistant striped is carved road group and is then made of the reflex streak quarter road of circumferential equidistantly array.
Further, the reflection sensor seat is equipped with reflection sensor location hole and reflection sensor is installed
Hole, the photosurface and receiving plane of reflection sensor face the equidistant striped on code-disc and carve road group, and radial direction is alignment
's.
The beneficial effects of the invention are as follows：
1, present invention incorporates the respective advantage and feature of incremental encoder and absolute type encoder, core is design
Dual-encoder system, that is, have the characteristics that the system of absolute type encoder and the system with incremental encoder design feature,
Dual system, which blends, to be cooperated to achieve the purpose that mutual supplement with each other's advantages.To make encoder also not needed in each power-off booting
Homing action can be such that robot arm continues in commercial Application especially in the application of robot power-off restarting
Former station original posture is kept, path can be set after restarting according to original by former station first motion to next station, greatly
It eliminates and restarts the troubles such as the station variation of reset strap, also be adapted for the application for also not allowing robot to reset under certain operating modes.
2, the present invention can reach high-precision and high-resolution, and can also have fast sound under conditions of high-speed cruising
Speed is answered, to substantially increase the mobile accuracy and resetting essence of shifting axle in the system of closed loop or half-closed loop control
Degree.
3, the present invention has dual intelligent correcting system, can substantially increase the trustworthiness of encoder, therefore have
At a high speed (high responsiveness), high-resolution, high reliability, it is small, at low cost the advantages that.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the D-D sectional views of Fig. 1.
Fig. 3 is the code-disc structural schematic diagram of the present invention.
Fig. 4 is the code-disc enlarged structure schematic diagram of the present invention.
Enlarged structure schematic diagram when Fig. 5 is the ccd image sensor detection code-disc of the present invention.
Specific implementation mode
As shown in Figure 1, 2, this encoder is mainly by code-disc 1, ccd image sensor 2, ccd image sensor mounting base 3,
Reflection sensor 4, reflection sensor seat 5, fixing bracket 6, output shaft 7, output shaft bearing 8 form.Code-disc 1 is equipped with ruler
Very little accurately centre bore 11 and location hole 12, code-disc 1 are fixed by centre bore 11 and location hole 12 with the positioning of output shaft 7, output
The inner ring tight fit of axis 7 and output shaft bearing 8, outer ring and 6 tight fit of fixing bracket of output shaft bearing 8, ccd image sensor
2 are fixed by ccd image sensor mounting base 3 and fixing bracket 6, and reflection sensor 4 passes through reflection sensor mounting base 5
It is fixed with fixing bracket 6.As shown in figure 3, the main roads You Sanzuke on code-disc 1, are outer double gradual change helical quarter road groups 13 respectively, interior
Double gradual change helicals carve road group 15 and equidistant striped carves road group 14.Outer double gradual change helicals of wherein code-disc 1 carve road groups 13, it is interior it is double gradually
Become helical quarter road group 15, ccd image sensor 2 and ccd image sensor mounting base 3 and constitutes absolute encoding system.And code
The equidistant striped of disk 1 carves road group 14, reflection sensor 4 and reflection sensor seat 5 and constitutes increment type coded system.
As shown in figure 4, outer double gradual change helicals on code-disc 1 are carved road group 13 and are made of two spiral reflective quarter road bands,
The radial width sum of two quarter road band any one circumferential position is equal, L1<L3, L2>L4, while L1+L2=L3+
L4.Interior double gradual change helicals carve road group 15 and carve that road groups 13 are similar with outer double gradual change helicals, and by two gradual changes it is spiral instead
The radial width sum of any one circumferential position of photoetching road band composition Qie Liangke road bands is also equal.And equidistant item
The roads Wen Ke group 14 is then carved road by the reflex streak of circumferential equidistantly array and is formed.
As shown in figure 5, there are one linear detections to incude window 21 for ccd image sensor 2, out of circumference extroversion circumference
Direction detect that the outer double gradual change helicals scanned on code-disc 1 carve road groups 13, equidistant striped carves road group 14 respectively and it is interior it is double gradually
Become helical and carves road group 15.As shown in Figure 1, ccd image sensor mounting base 3 is equipped with ccd image sensor location hole 31 and CCD
Imaging sensor mounting hole 32 can make the linear detection of ccd image sensor 21 by ccd image sensor location hole 31
The direction of window 21 and the diametric(al) of code-disc 1 are incuded into angle a one small, therefore striped is carved diatom and sensed with the ccd image
The scan line of the linear detection induction window 21 of device 2 is into angle a one small, 2 diameter of ccd image sensor in radial direction
To can scan more than one striped when equidistant striped carves road 14 region of group and carve diatom to scanning outside to inside, but several rules
Line carves diatom, and when one timing of width of 2 scanning window of ccd image sensor, the specific fringe number scanned is mainly by striped
Carve what the factors such as the diameter of road group, the length of striped and spacing size determined.
In addition, location hole 51 and mounting hole 52 also are provided on reflection sensor seat 5,4 photosurfaces of reflection sensor
The equidistant striped on code-disc 1 is faced with receiving plane and carves road group 14, and radial direction is alignment.It is fixed when the rotation of output shaft 7
Code-disc 1 thereon can rotate identical angle, and ccd image sensor 2 and reflection sensor 4 are both secured to fix at this time
It is motionless on holder 6, therefore the quarter road group that ccd image sensor 2 and reflection sensor 4 correspond to code-disc 1 has relative motion, leads to
The analysis of the detection and processor of crossing ccd image sensor 2 and reflection sensor 4 calculates, to obtain the rotation of output shaft 7
Gyration.
Respective advantage and spy of the design of this encoder mainly in conjunction with incremental encoder and absolute type encoder
Point is divided into absolute encoding system and increment type coded system, and higher response speed is obtained by two groups of system synergistic workings
With higher accuracy of detection.Detailed description is unfolded below for the operation principle of this two systems：
1) absolute encoding system carves road group 13 by outer double gradual change helicals of code-disc, interior double gradual change helicals carve road group 15, CCD
Imaging sensor 2 and ccd image sensor mounting base 3 form.Ccd image sensor has high-res, high sensitive etc. excellent
The size of point, picture point is μm grade, can sense and identify fine object, therefore can provide good picture quality and anti-noise ability.
There is ccd image sensor 2 in this example linear detection to incude window 21, can be detected in any one circumferential position
The quarter road group of code-disc 1, the picture point that scans it is radial to outside to inside respectively from outer double gradual change helicals carve road groups 13 retroreflective regions,
Equidistant striped carves the retroreflective regions of the retroreflective regions and interior double gradual change helical quarter road groups 15 of road group 14.
Double gradual change helicals carve 13 region of road group outside, since outer double gradual change helicals carve the retroreflective regions of road groups 13 by two gradually
Become helical and be divided into two panels up and down, circumferentially direction gradual change one week, therefore is obtained as radial scan in any two position of circumferencial direction
The location information for the retroreflective regions got all is different, in Fig. 4, the retroreflective regions (L1 at A and at B<L3, L2>L4),
And the location drawing picture for being in the picture point that each circumferential position can be got is different, each circumferential position has
Unique image correspondence.Simultaneously as the two reflective radial width addition for carving any one circumferential position of road band in the design
The sum of be equal, therefore as the total length for the retroreflective regions that radial scan is got be it is equal (in such as Fig. 4, L1<L3, L2>
L4, while L1+L2=L3+L4), it can be passed with the complementarity of this image location data to calibrate ccd image by comparative analysis
The position of sensor.Therefore, outer double gradual change helicals are scanned using ccd image sensor 2 and has carved the image information of the acquisition of road group 13
The relative position that can be used for judging ccd image sensor 2 and code-disc 1 is that output shaft 7 is circumferential on fixing bracket 6
Position that is to say in the absolute position of 6 fixed output shaft 7 of fixing bracket.
The region of road group 14 is carved in equidistant striped, since the linear detection of the ccd image sensor 2 incudes window 21
Scan line and striped carve diatom and be into angle a one small in radial direction, get will be for picture point as radial scan
The retroreflective regions of a plurality of equidistant streak line, with the rotation of output shaft 7, the i.e. rotation of code-disc 1, the image information got
It will change, period of change is calculated by total equidistant fringe number N of array on code-disc 1, there is following formula：
Period of change (angle) C=360 degree/total equidistantly fringe number N
If total equidistant fringe number of code-disc 1 in example is 1000, then period of change is 360 degree/1000=
0.36 degree, after that is to say that output shaft 7 often rotates 0.36 degree, ccd image sensor 2 herein carve in the region of road group by equidistant striped
The image information that can be got can just repeat, and in the rotating range of 0 degree~0.36 degree of relative rotation, image information is all not
With, also can according to the rotary position information in the rotating range of 0.36 degree of the corresponding image information pair got into
Row subdivision, the location resolution degree of subdivision are to incude the equidistant striped herein of window 21 by the linear detection of ccd image sensor 2
The pixel size P decisions that image is radially obtained in the region of road group 14 are carved, location resolution degree R has following formula：
The pixel size P of location resolution degree (angle) R=period of change (angle) the C/ area images
In this example, ccd image sensor 2 herein carve in the region of road group 14 and radially obtain image by equidistant striped
Pixel size P is 1024pixel, then location resolution degree (angle) R=0.36 degree/1024=0.00035 degree, so this example
The angle precision for 7 rotation position of output shaft that middle absolute encoding system can detect is 0.00035 degree.
Double gradual change helicals carve the region of road groups 15 inside, due to interior double gradual change helicals carve the retroreflective regions designs of road groups 15 with
Outer double gradual change helical quarter road groups 13 are similar, and the width of retroreflective regions is also identical, and only present position is different, and interior double gradual change helicals are carved
Road group 15 is proximate to the inner circle of code-disc 1 rather than at outer circle.Therefore ccd image sensor 2 scans the figure that the region obtains
The method of image comparison information as information or in the acquisition of different location is also identical, can similarly get output
The absolute position of axis, therefore the image information that the region obtains can be used for calibrating and verify, while when outer double gradual change helicals are carved
Road group 13 can also play the role of double shield in the case of failing, thus any one position ccd image sensor 2 simultaneously
Outer double gradual change helicals are obtained to carve the image information of road group 13 and interior double gradual change helical quarter road groups 15 and make a relevant analysis processing just
Dual intelligent correcting system is constituted, the trustworthiness of encoder can be substantially increased.
The process of work is that, when 7 power-off restarting of output shaft, absolute encoding system can start simultaneously, ccd image sensing
Device 2 obtains corresponding image information simultaneously, as described above, the image information of any two position in a circumference is all different
, being equivalent to any position has corresponding image information to encode, and therefore, 7 position of output shaft at this time can accurately obtain,
Clear point is not needed, that is to say the absolute position that can obtain output shaft, and its location resolution degree (angle) can be very small (such as
This example is 0.00035 degree), that is, the detectable angle position precision of encoder can be with comparable height.
2) increment type coded system is carved road group 14, reflection sensor 4 and reflection-type by the equidistant striped of code-disc and is sensed
Device seat 5 forms.In the process that output shaft 7 rotates, reflection sensor 4 constantly detects the equidistant item on code-disc 1
The region of the roads Wen Ke group 14, with the rotation of code-disc 1, reflection sensor 4 can receive the signal of corresponding brightness variation, from
And displacement is converted into periodic electric signal, then this electric signal is transformed into counting pulse, indicate position with the number of pulse
The size of shifting can obtain the relative position information of output shaft.Its resolution is by total equidistant striped of array on code-disc 1
Number N is determined.
Increment type coded system resolution (angle)=360 degree/N.It is carried out again using A, B two paths of signals of 90 degree of phase differences
Frequency can obtain higher resolution ratio.
Due to during 7 high-speed motion of output shaft, it usually needs the response speed of encoder is very high, and by absolute
The method operation of formula coding is relative complex, and response speed is more relatively slow, and therefore, the design's combines this increment type coding system
System solves the problems, such as this.In 7 power-off restarting of output shaft, first starts absolute encoding system simultaneously, reset need not be moved
The accurate absolute position that can obtain output shaft 7, after obtaining absolute position, during output shaft 7 moves then
Using increment type coded system, the relative position value relative to location point when opening is obtained, this two positions pass through system
Operation (be added or subtract each other) can obtain the absolute position of output shaft 7 during the motion, and absolute system at this time is
Temporarily idle, to greatly increase the response speed of entire encoder, while it can also obtain higher test position essence
Degree.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (7)
1. a kind of high response high-resolution dual coding system absolute value encoder, it is characterised in that：Including code-disc (1), ccd image
Sensor (2), ccd image sensor mounting base (3), reflection sensor (4), reflection sensor seat (5), fixing bracket
(6), output shaft (7), output shaft bearing (8)；The roads You Sanzuke on the code-disc (1) are that outer double gradual change helicals carve road group respectively
(13), interior double gradual change helicals carve road group (15) and equidistant striped carves road group (14), and outer double gradual change helicals of wherein code-disc (1) are carved
Road group (13), interior double gradual change helicals carve road group (15), ccd image sensor (2) and ccd image sensor mounting base (3) composition
The equidistant striped of absolute encoding system, code-disc (1) carves road group (14), reflection sensor (4) and reflection sensor
Seat (5) constitutes increment type coded system；The code-disc (1) is equipped with centre bore (11) and location hole (12), the code-disc (1)
It is fixed with output shaft (7) positioning by centre bore (11) and location hole (12), the inner ring of output shaft (7) and output shaft bearing (8)
Tight fit, outer ring and fixing bracket (6) tight fit of output shaft bearing (8), ccd image sensor (2) are sensed by ccd image
Device mounting base (3) is fixed with fixing bracket (6), and reflection sensor (4) passes through reflection sensor mounting base (5) and fixed branch
Frame (6) is fixed.
2. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
Stating setting on ccd image sensor (2), there are one linear detection induction window (21), detection incudes window (21) from code-disc
(1) the direction in circumference extroversion circumference is detected scan outer double gradual change helical quarter road groups (13) respectively, equidistant striped carves road
Group (14) and interior double gradual change helicals carve road group (15).
3. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
It states ccd image sensor mounting base (3) and is equipped with ccd image sensor location hole (31) and ccd image sensor mounting hole
(32), the linear detection of ccd image sensor (2) can be made to incude window by ccd image sensor location hole (31)
(21) diametric(al) in direction and code-disc (1) is at a small angle.
4. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
State the outer double gradual change helicals on code-disc (1) and carve road groups (13) and be made of two spiral reflective quarter road bands, two quarter road band it is arbitrary
The radial width sum of one circumferential position is equal.
5. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
It states interior double gradual change helicals and carves that road group (15) is similar with outer double gradual change helicals quarters road group (13), and by the spiral of two gradual changes
The radial width sum of reflective any one circumferential position of quarter road band composition Qie Liangke road bands is also equal.
6. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
It states equidistant striped and carves road group (14) then by circumferentially equidistantly the reflex streak quarter road of array forms.
7. a kind of high response high-resolution dual coding system absolute value encoder as described in claim 1, it is characterised in that：Institute
It states reflection sensor seat (5) and is equipped with reflection sensor location hole (51) and reflection sensor mounting hole (52), reflection
The photosurface and receiving plane of type sensor (4) face the equidistant striped on code-disc (1) and carve road group (14), and radial direction is pair
Neat.
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| CN203798366U (en) * | 2013-12-12 | 2014-08-27 | 刘万更 | No-level photoelectric absolute value encoder with adjustable resolution |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
| CN206556674U (en) * | 2017-02-15 | 2017-10-13 | 广州煌牌自动设备有限公司 | A kind of high response high-resolution dual coding system absolute value encoder |
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Application publication date: 20180821 |