CN108827351B - Rotary encoder and measuring method thereof - Google Patents
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- 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 application discloses a rotary encoder and a measuring method thereof, wherein the rotary encoder comprises a circular code disc, a first absolute code channel, an incremental code channel, a second absolute code channel and a composite reading head, wherein the first absolute code channel, the incremental code channel and the second absolute code channel are arranged on the code disc in parallel, and the composite reading head is used for reading position information of the code channels; the invention carves a first absolute code channel, an incremental code channel and a second absolute code channel on the surface of a code disc, utilizes the first absolute code channel to be matched with a composite reading head, realizes that the first absolute code channel and the composite reading head are utilized in a high-speed operation mode, high-speed code channel position information is obtained under the condition of ensuring certain precision, and utilizes the incremental code channel and the second absolute code channel to be matched with the composite reading head, so that code channel position information fed back by the second absolute code channel and code channel position information compensated by the difference of feedback signals of the incremental code channel and the second absolute code channel are obtained in a high-precision mode, high-precision and high-resolution code channel position information is obtained, and a single rotary encoder has the functions of measuring the high-speed operation mode and the high-precision mode simultaneously.
Description
Technical Field
The invention relates to the field of photoelectric measurement, in particular to a rotary encoder and a measuring method thereof.
Background
With the development of encoder measurement technology, absolute position encoding technology is introduced into the encoder, and an absolute rotary encoder may include two tracks: absolute code channel and incremental code channel; the absolute code track is composed of light-transmitting or light-tight scribed lines with fixed length in the measuring direction, periodicity is not provided in the measuring length, and the fixed number of the scribed lines form a code representing an absolute position; the incremental code tracks consist of periodic scribed lines, the period of which is typically 20 μm; for an absolute rotary encoder, usually, absolute position information is obtained by reading position codes when the absolute rotary encoder is powered on for the first time, then, incremental code channels can be counted and subdivided to carry out position calculation, the absolute code channels can be intermittently checked without participating in each time of obtaining the position information, so that the real-time property of obtaining the position information is greatly reduced, namely, the absolute rotary encoder can collect the position information in a short time but cannot meet the requirement of obtaining real-time accurate positions, and meanwhile, when the diameter of a code disc is smaller than a certain threshold value, the imaging definition can be reduced due to the fact that the focal length of a reading head is unchanged, namely, the resolution ratio cannot meet the requirement.
The code wheel of the multi-code-channel encoder comprises two code channels, under the condition that the maximum measuring perimeter is W, the period of one code channel is W/n, the period of the other code channel is W/(n-1), and n is a positive integer. For the same perimeter W, the larger n is, the higher the resolution of the obtained absolute position information is, but the value of n is limited by noise introduced by an electronic circuit, so that the maximum measurement length and the resolution of the multi-code-track encoder have a constraint relation, the diameter of a code wheel is increased to ensure that the resolution reaches certain precision, and the performance of the product, such as the maximum working speed, the acceleration, the assembly and the like, is influenced to a certain extent because a plurality of periodic code tracks are matched with each other to complete the absolute position measurement, so that the illumination area and the receiving area of a detector are larger.
Therefore, there is a need for a rotary encoder that can satisfy both a high-speed operation mode and a high-precision mode.
Disclosure of Invention
In view of the above, the present invention provides a rotary encoder and a measuring method thereof, which can simultaneously satisfy the operating requirements of a high-speed operation mode and a high-precision mode. The specific scheme is as follows:
a rotary encoder comprises a circular code disc, a first absolute code channel, an incremental code channel, a second absolute code channel and a composite reading head, wherein the first absolute code channel, the incremental code channel and the second absolute code channel are arranged on the code disc in parallel, and the composite reading head is used for reading position information of the code channels.
Optionally, the composite reading head includes a single-code-channel photoelectric image sensor, a single-code-channel light source module, a dual-code-channel photoelectric image sensor, and a dual-code-channel light source module;
the single-code-channel photoelectric image sensor is used for acquiring the position information of the single code channel;
the double-code-channel photoelectric image sensor is used for acquiring the position information of the double code channels.
Optionally, the single track light source module includes a first light source module, a first lens located right below the first light source module, a first reflective mirror located right below the first lens, and a first half lens parallel to the first reflective mirror;
the first light source module is used for emitting light rays to the first lens;
the first lens is used for changing the light rays into parallel light rays and refracting the parallel light rays to the first reflector;
the first reflector is used for reflecting the parallel rays to the first half lens;
the first half lens is used for reflecting the parallel light rays to the first absolute code channel and irradiating the light rays reflected by the first absolute code channel back to the single-code-channel photoelectric image sensor.
Optionally, the dual-track light source module includes a second light source module, a second lens located right below the second light source module, a first optical module located below the second lens, and a second optical module located below the lens;
the second lens is used for refracting the light rays emitted by the second light source module into two parallel light rays which are respectively emitted to the first optical module and the second optical module;
the first optical module and the second optical module are respectively used for irradiating light rays to the incremental code channel and the second absolute code channel and irradiating the light rays of the incremental code channel and the second absolute code channel back to the double-code-channel photoelectric image sensor;
the first optical module and the second optical module both comprise a reflective mirror and a semi-transparent mirror.
The invention also discloses a rotary encoder measuring method, which is applied to the rotary encoder and comprises the following steps:
when the composite reading head is in a high-speed mode, reading single-code-channel position information of the first absolute code channel by the composite reading head;
when the composite reading head is in a high-precision mode, reading double-code-channel position information of the incremental code channel and the second absolute code channel by the composite reading head;
when the composite reading head is in a composite mode, the composite reading head reads the multi-code-channel position information of the first absolute code channel, the incremental code channel and the second absolute code channel.
Optionally, the process of reading the multi-code-channel position information of the first absolute code channel, the incremental code channel, and the second absolute code channel by the composite reading head includes:
the composite reading head reads the single code channel position information of the first absolute code channel;
obtaining the motion direction, zero position information and offset of the coded disc by using the single code channel position information;
the composite reading head reads the position information of the double code channels of the incremental code channel and the second absolute code channel;
and obtaining the multi-code-channel position information by utilizing the motion direction, the zero position information, the offset and the double-code-channel position information.
Optionally, the composite reading head is further configured to determine whether the rotational speed of the code wheel meets a preset threshold by using the code channel position information, if so, the composite reading head enters the high-speed mode, and if not, the composite reading head enters the high-precision mode.
The rotary encoder comprises a circular code disc, a first absolute code channel, an incremental code channel, a second absolute code channel and a composite reading head, wherein the first absolute code channel, the incremental code channel and the second absolute code channel are arranged on the code disc in parallel, and the composite reading head is used for reading position information of the code channels; the invention carves a first absolute code channel, an incremental code channel and a second absolute code channel on the surface of a code disc, utilizes the first absolute code channel to be matched with a composite reading head, realizes that the first absolute code channel and the composite reading head are utilized in a high-speed operation mode, high-speed code channel position information is obtained under the condition of ensuring certain precision, and utilizes the incremental code channel and the second absolute code channel to be matched with the composite reading head, so that code channel position information fed back by the second absolute code channel and code channel position information compensated by the difference of feedback signals of the incremental code channel and the second absolute code channel are obtained in a high-precision mode, high-precision and high-resolution code channel position information is obtained, and a single rotary encoder has the functions of measuring the high-speed operation mode and the high-precision mode simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic perspective view of a rotary encoder according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a code channel structure of a rotary encoder according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a high-speed mode operation of a rotary encoder according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a high-precision mode operation state of a rotary encoder according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a rotary encoder, which is shown in figure 1 and comprises a circular code disc 1, a first absolute code channel 10, an incremental code channel 9 and a second absolute code channel 8 which are arranged on the code disc 1 in parallel, and a composite reading head 2 for reading the position information of the code channels.
Specifically, the first absolute code channel 10 is matched with the composite reading head 2 to form an absolute type rotary encoder suitable for the high-speed rotation of a tested rotating component, the incremental code channel 9 and the second absolute code channel 8 are matched with the composite reading head 2 to form a high-precision double-code-channel encoder, and meanwhile, the composite reading head 2 can also obtain code channel position information of the first absolute code channel 10, the incremental code channel 9 and the second absolute code channel 8; the composite reading head 2 is matched with the three code channels, and the composite reading head 2 reads corresponding code channel position information according to actual production requirements, so that one rotary encoder can meet two working requirements of high-speed operation and high resolution and high precision.
The code wheel 1 can be a metal ring and rotates during working, and a first absolute code channel 10, an incremental code channel 9 and a second absolute code channel 8 are engraved on the surface of the code wheel 1. The composite reading head 2 is fixed when working, one surface provided with the collecting head is tangent with the surface of the coded disc 1 all the time, and two sets of different light source modules and photoelectric sensor modules are integrated in the composite reading head 2.
Referring to fig. 2, the first absolute track 12, the incremental track 11 and the second absolute track 14 on the code wheel 13 all have a reflective block with a minimum width of 30 μm, and the track reflects a light beam irradiated by a light source to the image sensor through the reflective block, so that the image sensor obtains track position information; the distance and the size of the reflective blocks of the incremental code track 11 are equal, and the distance and the size of the reflective blocks of the first absolute code track 12 and the second absolute code track 14 are different.
Specifically, the composite reading head 2 includes a single-code-channel photoelectric image sensor 3, a single-code-channel light source module 5, a double-code-channel photoelectric image sensor 4, and a double-code-channel light source module 6;
the single code channel photoelectric image sensor 3 is used for acquiring single code channel position information;
the double-code-channel photoelectric image sensor 4 is used for acquiring double-code-channel position information;
the single code channel light source module 5 is used for providing a light source to irradiate the first absolute code channel 10;
and the double-code-channel light source module 6 is used for providing light sources to respectively irradiate the incremental code channel 9 and the second absolute code channel 8.
Specifically, referring to fig. 3, the single track light source module 5 includes a first light source module 20, a first lens 21 located right below the first light source module 20, a first reflective mirror 22 located right below the first lens 21, and a first half lens 17 parallel to the first reflective mirror 22;
a first light source module 20 for emitting light to the first lens 21;
a first lens 21 for refracting the light rays into parallel light rays to a first reflecting mirror 22;
a first mirror 22 for reflecting the parallel rays to the first half lens 17;
and the first half lens 17 is used for reflecting the parallel light rays to the first absolute code channel 10 and irradiating the light rays reflected by the first absolute code channel 10 back to the single-code-channel photoelectric image sensor 19.
Specifically, referring to fig. 4, the dual track light source module 6 includes a second light source module 28, a second lens 30 located right below the second light source module 28, a first optical module 26 located below the second lens 30, and a second optical module 31 located below the lens;
a second lens 30 for refracting the light emitted from the second light source module 28 into two parallel light beams and respectively emitting the two parallel light beams to the first optical module 26 and the second optical module 31;
the first optical module 26 and the second optical module 31 are respectively used for irradiating light rays to the incremental code channel 33 and the second absolute code channel 32, and irradiating the light rays of the incremental code channel 33 and the second absolute code channel 32 back to the first photoelectric image sensor 27 and the second photoelectric image sensor 29 of the double-code-channel photoelectric image sensor;
the first optical module 26 and the second optical module 31 each include a reflective mirror and a semi-transmissive mirror, and their functions are the same as those of the reflective mirror and the semi-transmissive mirror in the single track light source module 5.
Further, the working process of the rotary encoder of the embodiment of the present invention is as follows:
in a high-speed working mode, only the first absolute code track 12, the single-code-track photoelectric image sensor 19 and the single-code-track light source module 5 work, the working principle of the composite reading head 2 is shown in fig. 3, light emitted by the first light source module 20 is changed into parallel light 22 through the first lens 21, the parallel light is reflected by the first reflector 23 and irradiates the first half lens 17, the parallel light is reflected twice and perpendicularly irradiates the first absolute code track 12 on the surface of the code disc 15, and due to the action of a light reflecting block on the code track, the light irradiates the single-code-track photoelectric image sensor 19 through the first half lens 17; assume an initial position of operation as R0Because the size and the interval of the light reflecting blocks on the absolute code track are different and have uniqueness, each light reflecting block represents absolute position information, so that when the code disc 15 rotates by the perimeter distance R1When the absolute position R is obtained, the light signal received by the single-track photoelectric image sensor 19 changes accordinglya＝R1-R0Thus, the motion position information can be obtained; the position information is obtained by adopting single absolute code channel feedback, and high-speed position information reading can be carried out under the condition of keeping certain precision.
In a high-precision working mode, only the incremental code track 11 and the second absolute code track 14 work in cooperation with the dual-code track photoelectric image sensor 4 and the dual-code track light source module 6, and the working principle of the composite reading head 2 is shown in fig. 4, wherein two lights which are emitted by the second light source module 28 and have a certain included angle with each other are converted into two lights which are parallel to each other through the second lens 30, and the two lights are respectively emitted into the first optical module 26 and the second optical module 31, are irradiated on the incremental code track 33 and the second absolute code track 32 on the surface of the coded disc 25 after being reflected twice, are reflected through the reflection blocks on the incremental code track 33 and the second absolute code track 32, and are respectively irradiated on the first photoelectric image sensor 27 and the second photoelectric image sensor 29 of the dual-code track photoelectric image sensor module.
The composite mode is a working mode in which the composite reading head 2 simultaneously reads the code channel position information of the first absolute code channel 10, the incremental code channel 9 and the second absolute code channel 8 and obtains the multi-code channel position information by using the single code channel position information and the double code channel position information, in the composite mode, the composite reading head 2 simultaneously obtains the code channel position information of the first absolute code channel 10, the incremental code channel 9 and the second absolute code channel 8, and the single code channel photoelectric image sensor 3, the single code channel light source module 5, the double code channel photoelectric image sensor 4 and the double code channel light source module 6 simultaneously work to finally obtain the multi-code channel position information.
As shown in FIG. 2, the reflective patches on the second absolute track 14 are unique, the reflective patches on the incremental track 11 are periodic and have the same width, and the incremental track 11 and the reflective patches on the second absolute track 14 are mutually staggered, assuming that the initial working position is R'0When the code wheel rotates the perimeterDistance is R'1In this case, since each of the reflective blocks on the second absolute track 14 represents an absolute position, the encoder can determine the position information through the track of the second absolute track 14 theoretically, but since the reflective blocks themselves have widths, the focusing of the reading head may stay on the reflective blocks when the movement stops, and thus the distance R 'fed back through the track of the second absolute track 14 is only used'2Will be less than the actual code disc rotating perimeter distance R'1If a certain error exists, calibration can be performed through feedback information of the incremental code track 11, the incremental code track 11 has periodicity and is staggered with the second absolute code track 14, so that each code track light-reflecting block of the incremental code track 11 and each light-reflecting block of the second absolute code track 14 form more accurate absolute position information, and the error is smaller; when the code wheel rotates to work, the double-code-channel photoelectric image sensor 4 respectively obtains the position information fed back according to the second absolute code channel 14 and the position information compensated by the difference of the feedback signals of the incremental code channel 11 and the second absolute code channel 14, so that the working requirement of high precision and high resolution is met.
It can be seen that, in the embodiment of the present invention, a first absolute track 10, an incremental track 9, and a second absolute track 8 are engraved on the surface of a code wheel 1, the first absolute track 10 is used in cooperation with a composite reading head 2, the first absolute track 10 and the composite reading head 2 are used in a high-speed operation mode, high-speed track position information is obtained under certain precision, the incremental track 9 and the second absolute track 8 are used in cooperation with the composite reading head 2, the track position information fed back by the second absolute track 8 and the track position information compensated by the difference between the feedback signals of the incremental track 8 and the second absolute track 8 are obtained in a high-precision mode, high-precision and high-resolution track position information is obtained, and a single rotary encoder has the function of measuring in a high-speed operation mode and a high-precision mode at the same time.
In addition, the embodiment of the invention also discloses a rotary encoder measuring method, which is applied to the rotary encoder and comprises the following steps:
when the composite reading head is in a high-speed mode, reading single code channel position information of a first absolute code channel by the composite reading head;
when the composite reading head is in a high-precision mode, the composite reading head reads the position information of the double code channels of the incremental code channel and the second absolute code channel;
when in the composite mode, the composite reading head reads the multi-code-channel position information of the first absolute code channel, the incremental code channel and the second absolute code channel.
Therefore, in the embodiment of the invention, the composite reading head reads the code channel position information of the corresponding code channel according to different modes on the rotary encoder, so that the single rotary encoder has the functions of measuring a high-speed operation mode and a high-precision mode.
Specifically, when in the compound mode, the rotary encoder is in a high-speed operation state, and it is necessary to ensure a high accuracy, and at this time, the process of reading the multi-track position information of the first absolute track, the incremental track, and the second absolute track by the compound reading head may specifically include:
the composite reading head reads the single code channel position information of the first absolute code channel;
obtaining the motion direction, zero position information and offset of the code wheel by using the position information of the single code channel;
the composite reading head reads the position information of the double code channels of the incremental code channel and the second absolute code channel;
and obtaining multi-code-channel position information by utilizing the motion direction, the zero position information, the offset and the double-code-channel position information.
Specifically, since the absolute track position information is fixed, the absolute track can be used to determine the rotation direction of the code wheel, and the initial position information of the absolute track can be used as zero position information to establish a position information coordinate system with the zero position information as the origin, and simultaneously, the offset can be calculated, so that the single track position information of the first absolute track is used to provide a direction-identifying function, zero position reference and offset calculation in the composite mode, and further the double track position information is calibrated to compensate for errors, so that the high-resolution multi-track position information can be obtained after the rotation speed of the code wheel exceeds that of the code wheel in the high-precision mode.
It should be noted that, because the first absolute code channel can be used to obtain the zero position information, after the power failure is restarted, the composite reading head can quickly enter the working operation state according to the zero position information.
It can be understood that the composite reading head can judge the rotation speed of the code wheel after reading the code channel position information, so that the composite reading head can automatically judge which working mode is to be entered.
Specifically, the composite reading head is further used for judging whether the rotating speed of the code wheel meets a preset threshold value or not by utilizing the code channel position information, if so, the composite reading head enters a high-speed mode, and if not, the composite reading head enters a high-precision mode.
For example, the preset threshold is 1000rpm, the composite reading head judges whether to enter a high-speed mode or a high-precision mode by judging whether the current rotating speed of the code disc exceeds 1000rpm, when the rotating speed of the code disc does not exceed 1000rpm, the composite reading head enters the high-precision mode, and when the rotating speed of the code disc exceeds 1000rpm, the composite reading head enters the high-speed mode.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above detailed description of the rotary encoder and the measuring method thereof according to the present invention is provided, and the principle and the implementation of the present invention are explained by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (5)
1. A rotary encoder measuring method is characterized in that the rotary encoder is applied to a rotary encoder which comprises a circular code disc, a first absolute code channel, an incremental code channel and a second absolute code channel which are arranged on the code disc in parallel, and a composite reading head for reading code channel position information, and comprises the following steps:
when the composite reading head is in a high-speed mode, reading single-code-channel position information of the first absolute code channel by the composite reading head;
when the composite reading head is in a high-precision mode, reading double-code-channel position information of the incremental code channel and the second absolute code channel by the composite reading head;
when the composite reading head is in a composite mode, reading multi-code-channel position information of the first absolute code channel, the incremental code channel and the second absolute code channel by the composite reading head;
wherein, the process of reading the multi-code-channel position information of the first absolute code channel, the incremental code channel and the second absolute code channel by the composite reading head comprises:
the composite reading head reads the single code channel position information of the first absolute code channel;
obtaining the motion direction, zero position information and offset of the coded disc by using the single code channel position information;
the composite reading head reads the position information of the double code channels of the incremental code channel and the second absolute code channel;
and obtaining the multi-code-channel position information by utilizing the motion direction, the zero position information, the offset and the double-code-channel position information.
2. The rotary encoder measurement method of claim 1, wherein the composite readhead is further configured to determine whether a code wheel rotation speed satisfies a preset threshold value by using code track position information, and if so, the composite readhead enters the high-speed mode, and if not, the composite readhead enters the high-precision mode.
3. The rotary encoder measurement method of claim 1, wherein the composite read head comprises a single code channel photo-electric image sensor, a single code channel light source module, a dual code channel photo-electric image sensor and a dual code channel light source module;
the single-code-channel photoelectric image sensor is used for acquiring the position information of the single code channel;
the double-code-channel photoelectric image sensor is used for acquiring the position information of the double code channels.
4. The rotary encoder measurement method of claim 3, wherein the single track light source module comprises a first light source module, a first lens directly below the first light source module, a first mirror directly below the first lens, and a first half lens parallel to the first mirror;
the first light source module is used for emitting light rays to the first lens;
the first lens is used for changing the light rays into parallel light rays and refracting the parallel light rays to the first reflector;
the first reflector is used for reflecting the parallel rays to the first half lens;
the first half lens is used for reflecting the parallel light rays to the first absolute code channel and irradiating the light rays reflected by the first absolute code channel back to the single-code-channel photoelectric image sensor.
5. The rotary encoder measurement method of claim 3, wherein the dual track light source module comprises a second light source module, a second lens directly below the second light source module, a first optical module below the second lens, and a second optical module below the lens;
the second lens is used for refracting the light rays emitted by the second light source module into two parallel light rays which are respectively emitted to the first optical module and the second optical module;
the first optical module and the second optical module are respectively used for irradiating light rays to the incremental code channel and the second absolute code channel and irradiating the light rays of the incremental code channel and the second absolute code channel back to the double-code-channel photoelectric image sensor;
the first optical module and the second optical module both comprise a reflective mirror and a semi-transparent mirror.
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| CN109990805B (en) * | 2019-04-12 | 2021-03-16 | 广东工业大学 | Rotary encoder |
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