CN109029511B - Double-coding high-precision magnetic encoder and motor with same - Google Patents
Double-coding high-precision magnetic encoder and motor with same Download PDFInfo
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- CN109029511B CN109029511B CN201810825714.4A CN201810825714A CN109029511B CN 109029511 B CN109029511 B CN 109029511B CN 201810825714 A CN201810825714 A CN 201810825714A CN 109029511 B CN109029511 B CN 109029511B
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- 238000005070 sampling Methods 0.000 claims abstract description 26
- 239000011159 matrix material Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
Abstract
The invention discloses a double-coding high-precision magnetic encoder and a motor with the same, wherein the magnetic encoder comprises a first magnetic body, a second magnetic body, a first position sensor corresponding to the first magnetic body, a second position sensor corresponding to the second magnetic body and an integrated circuit board for processing output signals of the first position sensor and the second position sensor; the first magnetic body comprises a plurality of N poles and S poles which are alternately arranged to form a ring shape; the second magnetic body comprises a pair of N poles and S poles which are oppositely arranged, is arranged in the center of a ring formed by the first magnetic body and rotates synchronously with the first magnetic body; the number of the magnetic pole pairs of the first magnetic body is related to the number of the A/D sampling bits of the second magnetic body by the integrated circuit board. The invention forms a double-coding structure by arranging the central magnetic body and the outer magnetic body, so that the precision of the magnetic encoder is the product of the sampling precision of the central magnetic body and the outer magnetic body.
Description
Technical Field
The invention relates to the field of encoders, in particular to a double-encoding high-precision magnetic encoder and a motor with the same.
Background
The optical encoder structure comprises an LED, an optical code disc, a receiving device, an integrated control circuit and the like, so that the optical encoder structure is high in price, has higher requirements on external environment when being applied, and cannot bear severe conditions such as high temperature, dust, greasy dirt, vibration and the like. The advantages of magnetic encoders compared to optical encoders are obvious, but in the prior art the accuracy of magnetic encoders is far from the accuracy of optical encoders, which is also a major reason for the limitations of magnetic encoders in the field of application.
The low-precision magnetic encoder is low in price, but the high-precision magnetic encoder is relatively expensive, for example, the market price of an 8-bit-precision magnetic encoder is about ten to tens of RMB, while the 16-bit-precision magnetic encoder can only be purchased by a well-known company to ensure the precision and the accuracy, the price is about hundreds of prices, and the price of a higher-precision magnetic encoder is doubled.
In the prior art, the magnetic body of the magnetic encoder is often made into a precise structure, so that the cost of the product is high.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a double-coding high-precision magnetic encoder and a motor with the double-coding high-precision magnetic encoder, and a double-coding structure is formed by arranging a central magnetic body and an outer circle magnetic body, so that the precision of the magnetic encoder is the product of the sampling precision of the central magnetic body and the outer circle magnetic body, and the technical scheme is as follows:
in one aspect, the invention provides a dual-coding high-precision magnetic encoder, which comprises a first magnetic body, a second magnetic body, a first position sensor corresponding to the first magnetic body, a second position sensor corresponding to the second magnetic body and an integrated circuit board for processing output signals of the first position sensor and the second position sensor;
the first magnetic body includes a plurality of N poles and S poles alternately arranged to form a ring shape; the second magnetic body comprises a pair of N poles and S poles which are oppositely arranged, and the second magnetic body is arranged at the center of a ring formed by the first magnetic body and rotates synchronously with the first magnetic body;
the magnetic pole pair number of the first magnetic body is related to the A/D sampling bit number of the integrated circuit board to the second magnetic body, each pair of magnetic poles of the first magnetic body comprises an N pole and an S pole, and the precision of the magnetic encoder is the product of the sampling precision of the first magnetic body and the sampling precision of the second magnetic body.
Further, the integrated circuit board performs an A/D sampling on the second magnetic body with n bits, and the number of magnetic pole pairs of the first magnetic body is 2 n For each pair.
Further, the second magnetic body and the first magnetic body are of an integral structure or of a split structure fixedly installed in the shell.
Further, the second magnetic body and the first magnetic body are arranged on the same plane, and the first magnetic body is arranged on the outer circle edge of the plane taking the second magnetic body as the center.
Further, the first magnetic body is arranged on the outer arc surface of a three-dimensional disc or ring which takes the second magnetic body as the center.
Further, the first magnetic body is arranged on the inner circular arc surface of the three-dimensional circular ring taking the second magnetic body as the center.
Further, the magnetic encoder is enclosed in a housing for shielding external electromagnetic interference.
Further, the magnetic encoder is directly connected with the rotating shaft, or the magnetic encoder is connected with the rotating shaft through a bearing.
In another aspect, the present invention provides another dual-encoding high-precision magnetic encoder, including a disk-shaped substrate, a first position sensor, a second position sensor, and an integrated circuit board for processing output signals of the first position sensor and the second position sensor;
the center of the base body is provided with a pair of semicircular N poles and semicircular S poles respectively, the circumferential outer edge of the base body is gear-shaped, the first position sensor is opposite to the semicircular N poles and the semicircular S poles, and the second position sensor is opposite to the outer edge arc-shaped surface of the base body and has a preset distance from the opposite teeth;
the number of the teeth on the circumference outer edge of the matrix is 2 when the number of the A/D sampling bits of the semicircular N pole and S pole of the integrated circuit board is N n And each.
In a further aspect, the invention provides an electric motor having an output shaft coupled to a magnetic encoder as described above for synchronous rotation.
The technical scheme provided by the invention has the following beneficial effects:
a. double coding is carried out by utilizing two low-precision magnetic encoders, so that the precision is improved, and the cost is reduced;
b. the structure is simple, and the complexity of the manufacturing process is reduced;
c. the form is various.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a cross-sectional view of a mounting structure of a magnetic encoder and motor of a first type provided by an embodiment of the present invention;
FIG. 2 is a schematic structural view of the magnetic body of FIG. 1;
FIG. 3 is a schematic diagram of a sampling waveform for a first magnetic body;
FIG. 4 is a schematic diagram of a sampling waveform for a second magnetic body;
FIG. 5 is a cross-sectional view of a mounting structure for a magnetic encoder and motor of a second version provided by an embodiment of the present invention;
FIG. 6 is a front view of the magnetic body of FIG. 5;
FIG. 7 is a side view of the magnetic body of FIG. 5;
FIG. 8 is a cross-sectional view of a mounting structure for a magnetic encoder and motor of a third version provided by an embodiment of the present invention;
FIG. 9 is a perspective view of the magnetic body of FIG. 8;
fig. 10 is a schematic structural view of a magnetic body of a fourth mode magnetic encoder provided by an embodiment of the present invention.
Wherein, the reference numerals include: 1-first magnetic body, 2-second magnetic body, 3-first position sensor, 4-second position sensor, 5-shell, 6-motor, 61-output shaft, 7-integrated circuit board.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In one embodiment of the present invention, there is provided a dual-encoding high-precision magnetic encoder, referring to fig. 1, comprising a first magnetic body 1, a second magnetic body 2, a first position sensor 3 corresponding to the first magnetic body 1, a second position sensor 4 corresponding to the second magnetic body 2, and an integrated circuit board 7 for processing output signals of the first position sensor 3 and the second position sensor 4, preferably, the above-mentioned components of the magnetic encoder are enclosed in a housing 5, the housing 5 being for shielding electromagnetic interference from outside. Optionally, the first position sensor, the second position sensor is a magnetic sensor, a hall sensor or a laser sensor or a combination of sensors.
Referring to fig. 2, the magnetic encoder is an integrated planar magnetic encoder, that is, a magnet (a first magnetic body 1 plus a second magnetic body 2) is integrally formed in a disc shape, the second magnetic body 2 includes a pair of semicircular N-poles and semicircular S-poles which are oppositely disposed, the second magnetic body 2 is disposed at the center of the disc, and the first magnetic body 1 includes a plurality of N-poles (black bars in fig. 2) and S-poles (white bars in fig. 2) which are alternately arranged to form a ring shape, the second magnetic body 2 and the first magnetic body 1 are disposed on the same plane, and the first magnetic body 1 is disposed on the outer circumferential edge of the disc. Correspondingly, the first position sensor 3 and the second position sensor 4 are also arranged in the same plane, the specific positions are shown in fig. 1, the second position sensor 4 is opposite to the center of the disc, and the first position sensor 3 is opposite to the edge plane of the disc. In a specific embodiment, the integrated circuit board 7 mounting the first position sensor 3 and the second position sensor 4 is fixed to the inner side of the housing 5, and the housing 5 does not rotate with the magnetic encoder. It should be noted that, in the embodiment of the present invention, the first position sensor 3 and the second position sensor 4 are also disposed in the same plane, which is only a preferred embodiment, so that the sensor may be installed conveniently, that is, the detection may be performed even if the first position sensor 3 and the second position sensor 4 are not in the same plane.
The magnetic encoder provided by the embodiment of the invention improves the precision by the following arrangement: the pole pair number of the first magnetic body 1In relation to the number of bits of a/D sampling of the second magnetic body 2 by the integrated circuit board, in particular, as shown in fig. 2, the number of pairs of magnetic poles of the first magnetic body 1 is 2 6 (i.e., 64) pairs, each pair of poles of the first magnetic body 1 includes an N pole and an S pole, as shown by 64N poles and 64S poles, and the number of a/D sampling bits of the integrated circuit board for the second magnetic body 2 is 6 bits (set by software). In fig. 2, 256 pairs of magnetic poles are provided on the first magnetic body 1, and the second magnetic body 2 is correspondingly sampled 8 bits a/D, and the 8 bits are taken as an example for explanation, and the accuracy of the magnetic encoder is the product of the sampling accuracy of the first magnetic body 1 and the sampling accuracy of the second magnetic body 2, and the principle is as follows:
fig. 3 is a sampling waveform of the second magnetic body 2, where T1 is a period of one rotation of the magnet in fig. 2, and since the sampling precision is 8 bits, that is, one complete sine wave in fig. 3 can be precisely divided into 256 parts, 1/256 of one sine wave in fig. 3 corresponds to one complete sine wave with a period of T2 in fig. 4, and since there are 256 pairs of N poles/S poles around the magnet, when the magnet rotates 1/256 weeks, it is equivalent to a pair of N poles/S poles rotating the outer ring, that is, it is equivalent to one complete sine wave in fig. 4. For the sampled waveform of fig. 4, there is also a specific sampling precision, which may or may not be identical to the sampling precision of the second magnetic body 2, for example, the sampling precision of the first magnetic body 1 is 8 bits, i.e. a complete sine wave is divided into 2 in fig. 4 8 (256) Parts, each of which corresponds to 1/2 of the sine wave in FIG. 3 16 Namely, the magnetic encoder provided in this embodiment has a precision of 16 bits and a sampling precision of 2 8 Multiplied by 2 8 I.e. 2 16 . It should be noted that, the precision data in the present embodiment is merely an example, and according to the actual precision requirement, the sampling precision of the corresponding first magnetic body 1 and the second magnetic body 2 may be designed so as to achieve higher precision.
The magnetic encoder of the present invention may have various patterns, in another embodiment of the present invention, the first magnetic body 1 is disposed on an outer arc surface of a solid disk or ring centered on the second magnetic body 2, see fig. 6 and 7, and accordingly, the first position sensor 3 and the second position sensor 4 are disposed at positions shown in fig. 5, the second position sensor 4 is disposed opposite to the center of the disk (no change from the previous embodiment), and the first position sensor 3 is disposed opposite to an edge arc surface of the disk (protruding to a side surface of the disk in the previous embodiment).
In another embodiment of the present invention, the second magnetic body 2 and the first magnetic body 1 are in a split structure, as shown in fig. 9, the second magnetic body 2 is circular and consists of two semicircular N poles and S poles, the first magnetic body 1 is annular and is concentrically arranged, and the first magnetic body 1 is arranged on an inner arc surface of the three-dimensional ring. Accordingly, the first position sensor 3 and the second position sensor 4 are disposed at positions shown in fig. 8, the second position sensor 4 is disposed opposite to the center of the disc (no change from the previous embodiment), and the first position sensor 3 is disposed opposite to the inner arc surface of the ring (protruding to the inner side of the ring compared with the first embodiment). Although the second magnetic body 2 and the first magnetic body 1 are in a split structure, the two bodies rotate synchronously, that is, when the first magnetic body 1 rotates once, the second magnetic body 2 also rotates once synchronously.
The above two structures are slightly different from the first magnetic encoder, but the working principle is the same, and the description is omitted here.
The precision magnetic encoder in the prior art is connected with the rotating shaft through a bearing, otherwise, the precision and the accuracy of the magnetic encoder are easily caused by the deviation of the installation stage, but in the application, the precision of the first magnetic body 1 and the second magnetic body 2 can realize double-encoding integrated high precision without too high precision, so that the precision deviation of the magnetic encoder is not easily caused by the installation connection of the magnetic encoder with the rotating shaft, and the magnetic encoder is installed on the rotating shaft, such as the output shaft of a motor, so that the magnetic encoder can be directly installed, one bearing is saved, and the cost is further reduced. It is obvious that connection to the rotation shaft by means of bearings is a preferred solution.
In yet another embodiment of the present invention, there is provided another dual-encoding high-precision magnetic encoder including a disk-shaped base, a first position sensor 3, a second position sensor 4, and an integrated circuit board for processing output signals of the first position sensor 3 and the second position sensor 4; the center of the base body is provided with a pair of semicircular N poles and semicircular S poles respectively, the circumferential outer edge of the base body is in a gear shape, the teeth on the circumferential outer edge of the base body are optionally magnetic, the first position sensor 3 is arranged opposite to the semicircular N poles and S poles, and the second position sensor 4 is arranged opposite to the outer edge arc surface of the base body and has a preset distance from the opposite teeth; the number of the teeth on the circumference outer edge of the matrix is 2 when the number of the A/D sampling bits of the semicircular N pole and S pole of the integrated circuit board 7 is N n And each. That is, unlike the above-described embodiment, the first magnetic body 1 of the outer ring is replaced with a gear shape, and the preset distance between the second position sensor 4 and the teeth is determined according to the magnetism of the teeth, so that the second position sensor 4 cannot detect the magnetism at the valleys of the adjacent two teeth. In this embodiment, optionally, the teeth on the outer edge of the circumference of the base body are not magnetic, but are made of a magnetizer, and the second position sensor 4 is disposed in the same position and the same manner, and correspondingly, magnetic steel is disposed behind the second position sensor 4 (on the side away from the gear of the magnetizer), so that the technical scheme of the present invention can be implemented as well, and will not be repeated here.
The invention also provides a motor, wherein the output shaft 61 of the motor 6 is connected with the magnetic encoder to realize synchronous rotation, as shown in fig. 1, 5 and 8. Specifically, the motor 6 is a servo motor. The parts of the housing of the magnetic encoder, on which the first position sensor 3, the second position sensor 4 and the integrated circuit board 7 are mounted, are stationary, i.e. do not rotate with the rotation of the motor output shaft.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A double-coding high-precision magnetic encoder, which is characterized by comprising a first magnetic body (1), a second magnetic body (2), a first position sensor (3) corresponding to the first magnetic body (1), a second position sensor (4) corresponding to the second magnetic body (2), and an integrated circuit board (7) for processing output signals of the first position sensor (3) and the second position sensor (4);
the first magnetic body (1) includes a plurality of N poles and S poles alternately arranged to form a ring shape; the second magnetic body (2) comprises a pair of N poles and S poles which are oppositely arranged, and the second magnetic body (2) is arranged at the center of a ring shape formed by the first magnetic body (1) and rotates synchronously with the first magnetic body (1);
the number of magnetic pole pairs of the first magnetic body (1) is related to the number of A/D sampling bits of the integrated circuit board (7) on the second magnetic body (2), and the number of magnetic pole pairs of the first magnetic body (1) is 2 when the number of A/D sampling bits of the integrated circuit board (7) on the second magnetic body (2) is n n For each pair of magnetic poles of the first magnetic body (1) comprises an N pole and an S pole, and the precision of the magnetic encoder is the product of the sampling precision of the first magnetic body (1) and the sampling precision of the second magnetic body (2);
the second magnetic body (2) and the first magnetic body (1) are of an integral structure or of a split structure fixedly arranged in the shell (5).
2. A magnetic encoder according to claim 1, characterized in that the second magnetic body (2) is arranged on the same plane as the first magnetic body (1), the first magnetic body (1) being arranged on a plane outer circular rim centred on the second magnetic body (2).
3. A magnetic encoder according to claim 1, characterized in that the first magnetic body (1) is arranged on the outer circular arc surface of a solid disc or ring centred on the second magnetic body (2).
4. A magnetic encoder according to claim 1, characterized in that the first magnetic body (1) is arranged on the inner circular arc surface of a solid circular ring centred on the second magnetic body (2).
5. A magnetic encoder according to claim 1, characterized in that the magnetic encoder is enclosed in a housing (5), the housing (5) being adapted to shield external electromagnetic interference.
6. The magnetic encoder of claim 1, wherein the magnetic encoder is directly connected to the rotating shaft or the magnetic encoder is connected to the rotating shaft through a bearing.
7. A double-coding high-precision magnetic encoder, which is characterized by comprising a disc-shaped basal body, a first position sensor (3), a second position sensor (4) and an integrated circuit board (7) for processing output signals of the first position sensor (3) and the second position sensor (4);
the center of the base body is provided with a pair of semicircular N poles and semicircular S poles respectively, the circumferential outer edge of the base body is gear-shaped, the first position sensor (3) is opposite to the semicircular N poles and the semicircular S poles, and the second position sensor (4) is opposite to the outer edge arc surface of the base body and has a preset distance from the opposite teeth;
the number of the integrated circuit board (7) for the semicircular N pole and S pole is N, the number of the teeth on the circumference outer edge of the matrix is 2 n And each.
8. An electric motor, characterized in that an output shaft (61) of the electric motor (6) is connected to a magnetic encoder as claimed in any one of claims 1-6 for synchronous rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810825714.4A CN109029511B (en) | 2018-07-25 | 2018-07-25 | Double-coding high-precision magnetic encoder and motor with same |
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| CN201810825714.4A CN109029511B (en) | 2018-07-25 | 2018-07-25 | Double-coding high-precision magnetic encoder and motor with same |
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| CN109029511A CN109029511A (en) | 2018-12-18 |
| CN109029511B true CN109029511B (en) | 2024-04-05 |
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| CN110345976B (en) * | 2019-07-26 | 2020-03-27 | 浙江禾川科技股份有限公司 | Magneto-optical hybrid encoder system |
| CN116989828B (en) * | 2023-09-28 | 2023-12-08 | 山西省机电设计研究院有限公司 | Large-diameter magnetic ring encoder and detection method for absolute angle of magnetic ring encoder |
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| CN206339246U (en) * | 2016-12-22 | 2017-07-18 | 上海钧嵌传感技术有限公司 | A kind of high-precision rotating speed and rotation absolute angular position measurement sensor |
| CN207082973U (en) * | 2017-08-25 | 2018-03-09 | 北京进化者机器人科技有限公司 | Magnetic coder, motor and electric system |
| CN208567927U (en) * | 2018-07-25 | 2019-03-01 | 苏州少士电子科技有限责任公司 | A kind of dual coding high-precision magnetic coder and motor |
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2018
- 2018-07-25 CN CN201810825714.4A patent/CN109029511B/en active Active
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| CN102109361A (en) * | 2010-12-15 | 2011-06-29 | 天津埃柯特阀门控制设备有限公司 | Position detection device for electric executing mechanism |
| CN201917317U (en) * | 2010-12-15 | 2011-08-03 | 天津埃柯特阀门控制设备有限公司 | Position detector of electric executing mechanism |
| CN102506905A (en) * | 2011-10-22 | 2012-06-20 | 深圳众为兴技术股份有限公司 | High precision absolute encoder |
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