CN109084815B - Absolute encoder with contactless code disc and adjustable precision - Google Patents
Absolute encoder with contactless code disc and adjustable precision Download PDFInfo
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- CN109084815B CN109084815B CN201810866584.9A CN201810866584A CN109084815B CN 109084815 B CN109084815 B CN 109084815B CN 201810866584 A CN201810866584 A CN 201810866584A CN 109084815 B CN109084815 B CN 109084815B
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- 239000007769 metal material Substances 0.000 claims description 3
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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
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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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
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
Abstract
The invention relates to the technical field of absolute encoders, in particular to an absolute encoder with a non-contact coded disc and adjustable precision, which comprises a gear train, a coupling clutch, a coded disc of an absolute rotary encoder, a reading head of the absolute rotary encoder, a relevant mechanical switching mechanism and a control circuit, wherein the coded disc is not in contact with a measuring shaft, so that the abrasion of the coded disc during measurement is reduced, some unpredictable damage is avoided, and the service life of the encoder is prolonged; the precision is higher, although the reading head of the daily used rotary encoder is used, the measuring result with more than two accurate digits can be obtained through the change of a mechanical mechanism under the conditions of not changing the manufacturing cost, the precision and the like of the code disc; the method has two-gear measurement, good practical performance and wide application range; the structure is simple and easy to understand, all the used elements are daily used parts, the price is low, and the cost is low.
Description
Technical Field
The invention relates to the technical field of absolute encoders, in particular to an absolute encoder with a code wheel having no contact and adjustable precision.
Background
Along with the development of manufacturing industry, the requirement of precision of mechanical motion in the manufacturing industry is more and more strict, and an encoder is a core component related to the precision of the mechanical motion, and the purpose of ensuring the precision of the mechanical motion within a required range is achieved by measuring angular motion parameters of a mechanical rotating shaft and feeding relevant information back to a control system. The encoder can be classified into an incremental type and an absolute type according to the output form of the signal code. The angle information output by the incremental encoder and the angle information output by the previous incremental encoder have exact functional relation; the angle information output by the absolute encoder has an exact functional relation with the preset mechanical zero point.
The common high-precision absolute encoder on the market is a reflection-type absolute encoder with code channels on the circumference of a code disc. The principle is that the code disc is connected with the measuring shaft through connecting elements such as a coupler and the like, the code disc rotates along with the rotation of the measuring shaft during measurement, the reading head is fixed, a light source in the reading head reaches a receiver after being reflected by the code disc, the receiver generates a corresponding electric signal after receiving the optical signal, and a corresponding result is obtained after the processing such as amplification, direction discrimination, subdivision and the like. The method has the advantages of simple structure, convenient operation and high measurement precision, and is accepted by the public. Due to uncertainty of movement of the measuring shaft, certain oscillation, impact and even east fleeing are possibly accompanied, the rotating shaft is used for a long time to cause huge abrasion to the coded disc, measuring accuracy is influenced, and the service life of the encoder is shortened. Meanwhile, the development of the high-precision photoelectric encoder enters a bottleneck stage, the precision of the encoder and the size of a code disc are in a direct proportion relation in the conventional encoding and measuring mode, and meanwhile, the higher the manufacturing precision is, the higher the cost of the encoder with higher precision is.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide an absolute encoder with an adjustable precision and a code wheel without contact, which can solve the problem of unpredictable wear caused by direct connection between the code wheel of the encoder and the measuring shaft of the present invention, and improve and adjust the precision of the measurement, for the measuring shaft with a large diameter.
The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows:
according to an aspect of the embodiment of the invention, the absolute type encoder with the precision adjustable and the code disc in a non-contact manner is provided, and comprises a gear train, a coupling clutch, an absolute type rotary encoder code disc, an absolute type rotary encoder reading head, a relevant mechanical conversion mechanism and a control circuit; the gear train, the coupling clutch and the mechanical conversion mechanism are combined into a multi-gear motion module; the reading head of the absolute rotary encoder is connected with the planetary gear train and moves together with the planetary gear train; the gear train is connected with the measuring shaft and does not move relative to the measuring shaft, the reading head of the absolute type rotary encoder is provided with a corresponding control circuit, the coded disc of the absolute type rotary encoder is independently fixed on the edge, the shaft coupling clutch is controlled by a corresponding mechanical switching mechanism, and the whole absolute type encoder is hermetically wrapped by the shell.
Preferably, absolute formula encoder adopts high mechanical strength metal material to make the output shaft, output shaft one end is being even first coupling clutch, is fixing the first helical gear that the number of teeth is 100 in the second coupling clutch, first helical gear meshes with the second helical gear that the number of teeth is 101, second helical gear and third helical gear assemble respectively in the axle both ends, the third helical gear meshes with the fixed helical gear that the number of teeth is 100.
Preferably, the shaft is connected with the rack through the second shaft coupling clutch, the rack penetrates through the center of the fixed helical gear, and the tail end of the roundabout outlet is fixedly provided with a reading head of an absolute rotary encoder.
Preferably, a light collimating prism corresponding to the light source is arranged in the absolute rotary encoder reading head, and the photoelectric receiver drives the CMOS camera through the FPGA to acquire encoded stripe data at a high speed and obtain a clear image.
Preferably, the coded disc of the absolute rotary encoder is a fixed mechanism, and the reading head of the absolute rotary encoder is driven by the rack to become a moving mechanism with two-gear rotating speed.
Preferably, the ordinary measurement comprises the following steps:
1) the output shaft is connected with the measuring shaft;
2) a signal is input to the mechanical conversion mechanism from the outside, so that the first connecting shaft clutch is in a connected state, and the second connecting shaft clutch is in a disconnected state;
3) the frame is directly connected with the output shaft;
4) when the measuring shaft rotates, the reading head of the absolute type rotary encoder on the rack rotates around the coded disc of the absolute type rotary encoder, and common measurement is started.
Preferably, the high-precision measurement comprises the following steps:
1) the output shaft is connected with the measuring shaft;
2) and another signal is input to the mechanical switching mechanism from the outside, so that the second connecting shaft clutch is in a connected state, and the first connecting shaft clutch is in a disconnected state.
3) The output shaft is connected with the planetary gear train;
4) the transmission ratio of the output shaft to the frame of the frame is 1:100, the rotating angle of the absolute type rotary encoder reading head is 100 times of that of the measuring shaft, and the result obtained by measuring through the absolute type rotary encoder reading head is divided by 100 to obtain a real measured value.
Preferably, the gear modules in the gear train are equal, a planetary gear train is formed by mutual meshing, the rotating speed of the rotating angle of the measuring shaft is amplified to a certain multiple through the planetary gear train, and under the condition that the measuring precision of the internal encoder is unchanged, the obtained measuring value is divided by a multiple to be a real measuring value.
The invention has the beneficial effects that:
the coded disc of the first absolute type rotary encoder is not in contact with the measuring shaft, so that the abrasion of the coded disc of the absolute type rotary encoder during measurement is reduced, some unpredictable damage is avoided, and the service life of the encoder is prolonged;
secondly, the precision is higher, although the reading head of the daily used rotary encoder is used, the measuring result with more than two accurate digits can be obtained under the conditions of not changing the manufacturing cost, the precision and the like of the code disc through the change of a mechanical mechanism;
thirdly, two-gear measurement is realized, the practicability is good, and the application range is wide;
fourthly, the structure is simple and easy to understand, all the used elements are daily used parts, the price is low, and the cost is low.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an encoder:
FIG. 2 is a schematic view of the overall structure of the encoder in a first measurement range;
FIG. 3 is a schematic view of the overall structure of the encoder in a second measurement range;
the reference numerals in the drawings denote:
1. a first helical gear; 2. a second helical gear; 3. a third bevel gear; 4. fixing the bevel gear; 5. a second coupling clutch; 6. a first coupling clutch; 7. an output shaft; 8. a frame; 9. an absolute rotary encoder read head; 10. a shaft; 11. absolute rotary encoder coders.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
1-3, the absolute encoder with non-contact code disc and adjustable precision comprises a gear train, a shaft coupling clutch, an absolute rotary encoder code disc 11, an absolute rotary encoder reading head 9, a relevant mechanical conversion mechanism and a control circuit; the gear train, the coupling clutch and the mechanical conversion mechanism are combined into a multi-gear motion module; the reading head 9 of the absolute rotary encoder is connected with the planetary gear train and moves together with the planetary gear train; the wheel train is connected with the measuring shaft and does not move relative to the measuring shaft, the reading head 9 of the absolute type rotary encoder is provided with a corresponding control circuit, the coded disc 11 of the absolute type rotary encoder is independently fixed on the edge, the coupling clutch is controlled by a corresponding mechanical switching mechanism, and the whole absolute type encoder is hermetically wrapped by the shell.
Absolute formula encoder adopts high mechanical strength metal material to make output shaft 7, output shaft 7 one end is being even first countershaft clutch 6, is being fixed in second countershaft clutch 5 the tooth number is 100 first helical gear 1, first helical gear 1 meshes with the second helical gear 2 that the tooth number is 101, second helical gear 2 and third helical gear 3 assemble respectively in 10 both ends of axle, third helical gear 3 meshes with the tooth number is 100 fixed helical gear 4.
The shaft 10 is connected with a frame 8 through the second shaft coupling clutch 5, the frame 8 penetrates through the center of the fixed bevel gear 4, and the tail end of the roundabout shaft is fixedly provided with a reading head 9 of an absolute type rotary encoder.
The absolute rotary encoder reading head 9 is provided with a light collimating prism corresponding to the light source, and the photoelectric receiver drives the CMOS camera through the FPGA to acquire encoding stripe data at a high speed and obtain clear images.
The coded disc 11 of the absolute rotary encoder is a fixed mechanism, and the reading head 9 of the absolute rotary encoder is driven by the frame 8 to become a moving mechanism with two-gear rotating speed.
Example two
The common measurement comprises the following steps:
1) the output shaft 7 is connected with the measuring shaft;
2) a signal is input to the mechanical switching mechanism from the outside, so that the first connecting shaft clutch 6 is in a connected state, and the second connecting shaft clutch 5 is in a disconnected state;
3) the frame 8 is directly connected with the output shaft 7;
4) when the measuring shaft rotates, the absolute type rotary encoder reading head 9 on the frame 8 rotates around the absolute type rotary encoder coded disc 11, and common measurement is started.
The high-precision measurement method comprises the following steps:
1) the output shaft 7 is connected with the measuring shaft;
2) another signal is externally input to the mechanical changeover mechanism to cause the second coupling clutch 5 to be in a connected state and the first coupling clutch 6 to be in a disconnected state.
3) The output shaft 7 is connected with a planetary gear train;
4) the transmission ratio of the output shaft 7 to the frame 8 is 1:100, the rotating angle of the absolute type rotary encoder reading head 9 is 100 times of that of the measuring shaft, and the result obtained by measuring through the absolute type rotary encoder reading head 9 is divided by 100 to obtain a real measured value.
The gear modules in the gear train are equal, a planetary gear train is formed by mutual meshing, the rotating speed of the rotating angle of the measuring shaft is amplified to a certain multiple through the planetary gear train, and under the condition that the measuring precision of the internal encoder is unchanged, the obtained measuring value is divided by a multiple to be a real measuring value.
In the invention, two coupling clutches are provided, and the freedom degree of the whole mechanism is always limited to 1 through the operation of the two coupling clutches, so that the reading head of the absolute encoder has two-gear rotating speed, and the whole encoder has two-gear measuring precision. The shaft coupling clutches are matched and connected with the mechanical conversion mechanism, and the states of the two shaft coupling clutches are controlled through the external control mechanical conversion mechanism, so that the gear shifting purpose is achieved. The control circuit is used for a daily absolute encoder.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not to be construed as limiting the scope of the invention. Any modifications, equivalents and improvements which may occur to those skilled in the art without departing from the scope and spirit of the present invention are intended to be within the scope of the claims.
Claims (6)
1. The absolute encoder with the code disc having no contact and adjustable precision is characterized in that: the device comprises a gear train, a coupling clutch, an absolute type rotary encoder coded disc, an absolute type rotary encoder reading head, a related mechanical switching mechanism and a related control circuit; the coupling clutches comprise a first coupling clutch and a second coupling clutch, and the gear train, the coupling clutches and the mechanical conversion mechanism are combined into a multi-gear motion module; the absolute type rotary encoder reading head is connected with the gear train and moves together with the gear train; the wheel train is connected with the measuring shaft and does not move relative to the measuring shaft, the reading head of the absolute type rotary encoder is provided with a corresponding control circuit, the coded disc of the absolute type rotary encoder is independently fixed at the edge, the shaft connecting clutch is controlled by a corresponding mechanical switching mechanism, and the whole absolute type encoder is hermetically wrapped by the shell;
the absolute encoder is characterized in that an output shaft (7) is made of a high-mechanical-strength metal material, one end of the output shaft is connected with a first connecting shaft clutch (6), a first helical gear (1) with the number of teeth of 100 is fixed in a second connecting shaft clutch (5), the first helical gear (1) is meshed with a second helical gear (2) with the number of teeth of 101, the second helical gear (2) and a third helical gear (3) are respectively assembled at two ends of a shaft (10), and the third helical gear (3) is meshed with a fixed helical gear with the number of teeth of 100;
the shaft (10) is connected with the rack (8) through the second shaft coupling clutch (5), the rack (8) penetrates through the center of the fixed helical gear (4), and the tail end of the roundabout shaft is fixedly provided with an absolute type rotary encoder reading head (9).
2. The absolute encoder with adjustable precision and without contact of code wheel of claim 1, characterized in that: the absolute rotary encoder reading head is internally provided with a light collimating prism corresponding to the light source, and the photoelectric receiver drives the CMOS camera to acquire encoding stripe data at a high speed through the FPGA and obtain clear images.
3. The absolute encoder with adjustable precision and without contact of code wheel of claim 1, characterized in that: the absolute type rotary encoder coded disc is a fixed mechanism, and the absolute type rotary encoder reading head is driven by the rack to become a moving mechanism and has two gears of rotating speeds.
4. The absolute encoder with adjustable precision and without contact of code wheel of claim 1, characterized in that: the gear modules in the gear train are equal, a planetary gear train is formed by mutual meshing, the rotating speed of the rotating angle of the measuring shaft is amplified to a certain multiple through the planetary gear train, and under the condition that the measuring precision of the internal encoder is unchanged, the obtained measuring value is divided by a multiple to be a real measuring value.
5. The measuring method of the absolute encoder with the code wheel contactless and adjustable in precision of claim 1, characterized in that: the common measurement comprises the following steps:
1) the output shaft is connected with the measuring shaft;
2) a signal is input to the mechanical switching mechanism from the outside, so that the first connecting shaft clutch (6) is in a connected state, and the second connecting shaft clutch (5) is in a disconnected state;
3) the frame (8) is directly connected with the output shaft (7);
4) when the measuring shaft rotates, the reading head (9) of the absolute type rotary encoder on the rack (8) rotates around the coded disc of the absolute type rotary encoder, and common measurement is started.
6. The measuring method of the absolute encoder with the code wheel contactless and adjustable in precision of claim 1, characterized in that: the high-precision measurement method comprises the following steps:
1) the output shaft is connected with the measuring shaft;
2) another signal is input to the mechanical conversion mechanism from the outside, so that the second connecting shaft clutch (5) is in a connected state, and the first connecting shaft clutch (6) is in a disconnected state;
3) the output shaft is connected with the wheel train;
4) the transmission ratio of the output shaft (7) to the frame (8) is 1:100, the rotating angle of the absolute type rotary encoder reading head (9) is 100 times of that of the measuring shaft, and the result obtained by measuring through the absolute type rotary encoder reading head (9) is divided by 100 to obtain a real measured value.
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| CN201810866584.9A CN109084815B (en) | 2018-08-01 | 2018-08-01 | Absolute encoder with contactless code disc and adjustable precision |
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| CN201810866584.9A CN109084815B (en) | 2018-08-01 | 2018-08-01 | Absolute encoder with contactless code disc and adjustable precision |
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| CN109084815B true CN109084815B (en) | 2021-07-09 |
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| CN111044982B (en) * | 2019-12-23 | 2021-09-28 | 广东纳睿雷达科技股份有限公司 | Radar azimuth positioning method |
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2018
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| CN2771823Y (en) * | 2005-02-05 | 2006-04-12 | 苏州一光仪器有限公司 | Absolute angle coder |
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| CN204831201U (en) * | 2015-06-24 | 2015-12-02 | 武汉理工大学 | It draws linear displacement sensor to cascade hybrid |
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