CN109827599B - Fixed grating for photoelectric encoder and photoelectric encoder - Google Patents
Fixed grating for photoelectric encoder and photoelectric encoder Download PDFInfo
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Abstract
The application relates to the technical field of photoelectric detection, in particular to a fixed grating for a photoelectric encoder and the photoelectric encoder comprising the fixed grating. The fixed grating for the photoelectric encoder comprises absolute code channels and sinusoidal code channels which are concentrically arranged, wherein the number of the absolute code channels is X, X is more than 1, and X is an integer; the sine code channel consists of n fan rings which are sequentially connected in the circumferential direction, n is more than 1, n is an integer, each fan ring is concentric with the absolute code channel, the corresponding central angle of the sine code channel is theta, and the requirements of theta = pi/2 are met X The central angle of each fan ring is theta/n, and the areas of n fan rings are changed in a sine function in the circumferential direction. The fixed grating can generate a waveform close to an ideal sinusoidal signal, so that the sine of a source signal for electronic subdivision is ensured, the precision of electronic subdivision is improved, and the difficulty that an absolute photoelectric encoder needs to meet high resolution and small size at the same time is solved.
Description
Technical Field
The application relates to the technical field of photoelectric detection, in particular to a fixed grating for a photoelectric encoder and the photoelectric encoder comprising the fixed grating.
Background
The photoelectric encoder is an angle measuring device integrating optics, machinery and electricity, and converts optical signals into electric signals through a mechanical structure and a signal processing circuit, so that the direct or indirect measurement of various physical quantities such as angular displacement, speed and position is realized. In an absolute photoelectric encoder, the absolute encoding of a movable grating can realize that the encoding of each angle in one circle is unique. In order to meet the requirements of high resolution and small size at the same time, the signals must be processed by means of electronic subdivision. And the source signal required in the electronic subdivision is the basis for the electronic subdivision. The generation of the source signal depends on the pattern design of the fixed grating. The source signals generated by the design of most of the current gratings are in the form of triangular waves, which is not beneficial to the subdivision with high precision. To solve the above-mentioned problems, it is necessary to propose a fixed grating design that generates sinusoidal signals to improve the accuracy of subdivision.
Disclosure of Invention
In order to solve the technical problems, so as to obtain a fixed grating design capable of generating sinusoidal signals, so as to provide subdivision accuracy of the photoelectric encoder, the application provides the following technical scheme.
In a first aspect, embodiments of the present application provide a fixed grating for an optoelectronic encoder.
The fixed grating for the photoelectric encoder provided by the embodiment of the application comprises an absolute code track and a sine code track which are concentrically arranged, wherein,
the number of the absolute code channels is X, X is more than 1, and X is an integer;
the sine code channel consists of n fan rings which are sequentially connected in the circumferential direction, n is more than 1, n is an integer, each fan ring is concentric with the absolute code channel, the corresponding central angle of the sine code channel is theta, and the requirements of theta = pi/2 are met X The central angle of each fan ring is theta/n, and the areas of n fan rings are changed in a sine function in the circumferential direction.
Further, the length of the bus bar of the mth fan ring of the sine code channel in the circumferential direction is Hm, which satisfies H m And (n/n), wherein H is the length of a fan ring generatrix corresponding to an angular bisector of the central angle theta of the sinusoidal code channel, m is not less than 1 and not more than n, m is an integer, and the midpoint of the generatrix of each fan ring is positioned on the same circular arc concentric with the absolute code channel.
Further, the number of the absolute code tracks is 8, and the corresponding central angle θ=pi/2 of the sinusoidal code tracks 8 。
Further, the number of sector rings in the sinusoidal code track is 30, the area ratio of each fan ring is as follows 195:578:1133:1840:2672:3596:4577:6557:7481:8313:9020:9575:9958:10153:9958:9575:9020:8313:7481:6557:5577:4577:3596:2672:1840:1133:578:195: a. The invention relates to a method for producing a fibre-reinforced plastic composite.
Further, a plurality of sinusoidal tracks are provided.
Furthermore, the fixed grating is made of optical glass.
In a second aspect, embodiments of the present application provide an optoelectronic encoder.
The photoelectric encoder provided by the embodiment of the application comprises the fixed grating for the photoelectric encoder.
Further, the photoelectric encoder also comprises a light source, a movable grating, a photosensitive unit and a signal processing circuit.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: the fixed grating can generate a waveform close to an ideal sinusoidal signal, so that the sine of a source signal for electronic subdivision is ensured, the precision of electronic subdivision is improved, and the difficulty that an absolute photoelectric encoder needs to meet high resolution and small size at the same time is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a fixed grating for an optical-electrical encoder according to the present disclosure;
FIG. 2 is an enlarged view of a sinusoidal track provided herein;
FIG. 3 is a schematic diagram of a sinusoidal track provided in the present application;
FIG. 4 is a schematic diagram of a functional image of the variation of the surface area of a sinusoidal code of a fixed grating provided by the present application; and
fig. 5 is a schematic structural diagram of an optical-electrical encoder provided in the present application.
In the figure:
1. a grating is fixed; 101. absolute code channel; 102. sinusoidal code tracks; 1021. a fan ring; 2. a light source; 3. a movable grating; 4. a photosensitive unit; 5. a signal processing circuit.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to fig. 1-5 in conjunction with examples.
Example 1
As shown in fig. 1-3, a fixed grating for an opto-electronic encoder is provided. As shown in fig. 1, the fixed grating 1 includes concentric absolute code tracks 101 and sinusoidal code tracks 102, wherein the number of absolute code tracks 101 is X, X > 1 and X is an integer; the sinusoidal code track 102 is composed of n fan rings 1021 sequentially connected in the circumferential direction, n is larger than 1, n is an integer, each fan ring 1021 is concentric with the absolute code track 101, the corresponding central angle of the sinusoidal code track 102 is θ, and the conditions of θ=pi/2 are satisfied X The central angle of each fan ring 1021 is θ/n, and the areas of the n fan rings 1021 change in a sine function in the circumferential direction.
The fixed grating 1 as shown in the figure consists of an absolute code channel 101 and a sinusoidal code channel 102. In the working process of the photoelectric encoder, M absolute code channels 101 are used for generating absolute codes of single circles, and the absolute codes of each single circle correspond to unique position information; the sinusoidal code track 102 provided in the embodiments of the present application may generate a sinusoidal signal, and corresponds to a sinusoidal signal of one period in the absolute encoding of each single turn. Since the light transmission area of the sinusoidal code channel 102 changes as a trigonometric function, the electrical signal obtained by photoelectric conversion of the photosensitive unit of the photoelectric encoder also changes as a corresponding trigonometric function, and the rotation angle of the movable grating can be subdivided by interpolating the trigonometric function. Since the sinusoidal signal generated by the sinusoidal code track 102 is electronically subdivided keystone, the resolution of the photoelectric encoder can be improved by processing the sinusoidal signal by an interpolation algorithm.
In the embodiment of the application, the central angle of each fan ring 1021 is θ/n, that is, the central angle corresponding to the sinusoidal code channel 102 is equally divided by n, and only the distribution of each fan ring area according to the rule of a sine function is needed to be considered in design.
As shown in FIG. 1, the absolute code track 101 number of the fixed grating 1 is set to 8 in the present application, and the resolution which can be realized is 2 pi/2 8 .8 absolute code tracks 101 are arranged concentrically with 8 absolute code tracks 101 and a sine code track 102.
As a preferred embodiment, as shown in fig. 2 and 3, the length of the generatrix of the mth fan ring 1021 in the circumferential direction of the sinusoidal tracks 102 is H m The following are satisfied:
H m ＝H*sin(πm/n)；
wherein H is the length of the fan ring generatrix corresponding to the angular bisector of the central angle θ of the sinusoidal code track 102;
m is more than or equal to 1 and less than or equal to n, and m is an integer.
And the midpoint of the generatrix of each fan ring 1021 is positioned on the same circular arc concentric with the absolute code channel 101. Finally, a track structure similar to the shape of a double pyramid is formed as shown in fig. 2 and 3. The structure of the sinusoidal code track 102 is similar to a symmetrical structure, so that space is saved on the fixed grating, and the technical problem that the requirements of high resolution and small size of the absolute photoelectric encoder are difficult to meet at the same time can be solved.
Specifically, the material of the fixed grating 1 in the present application is preferably optical glass.
Preferably, the number of the sinusoidal tracks 102 may be plural, as shown in fig. 1, the number of the sinusoidal tracks 102 is 12, and plural sinusoidal tracks may be implemented as needed. The number of sinusoidal channels is 12, 3 of which are 1 group and 4 groups. The design of 3 groups can increase the photosensitive area, increase the signal and improve the anti-interference capability. The sine code channels are divided into 2 pairs, each pair comprises two groups, the phase difference between the pairs is 90 degrees, and the phase difference between the 2 groups in the pairs is 180 degrees. By setting a plurality of sine code channels with phase differences of the sine functions with the area change and carrying out interpolation operation on a plurality of trigonometric functions with the phase differences, the operation result can be more accurate, and the subdivision angle is more accurate.
Example 2
The application provides a fixed grating for an optoelectronic encoder. The fixed grating 1 comprises concentric absolute code tracks 101 and sinusoidal code tracks 102, wherein the number of the absolute code tracks 101 is 8, the sinusoidal code tracks 102 are formed by 30 fan rings 1021 sequentially connected in the circumferential direction, each fan ring 1021 is concentric with the absolute code tracks 101, and the central angle of each fan ring 1021 is pi/(30 x 2) X ). The length of the generatrix of the mth fan ring 1021 in the circumferential direction of the sinusoidal code track 102 is H m The following are satisfied:
H m ＝H*sin(πm/30)；
wherein H is the length of a fan ring generatrix corresponding to an angular bisector of the central angle of the sinusoidal code track 102;
m is more than or equal to 1 and less than or equal to 30, and m is an integer.
The number of sector rings in the sinusoidal tracks 102 is 30, the area ratio of each fan ring 1021 satisfies 195:578:1133:1840:2672:3596:4577:6557:7481:8313:9020:9575:9958:10153:9958:9575:9020:8313:7481:6557:5577:4577:3596:2672:1840:1133:578:195: a. The invention relates to a method for producing a fibre-reinforced plastic composite. The sinusoidal code track 102 provided in the embodiment of the present application is in a tower shape with approximately symmetrical radial direction, is distributed in the radial direction according to the PWM wave principle with equivalent duty ratio sinusoidal curve, and equally divides the central angle according to the same number of steps as the radial direction in the circumferential direction, so as to form an approximately symmetrical pyramid-like shape. The overall light intensity profile of the sinusoidal tracks 102 in the present embodiment is shown with reference to fig. 4.
Example 3
As shown in fig. 5, there is provided a photoelectric encoder including a fixed grating 1, a light source 2, a movable grating 3, a photosensitive unit 4, and a signal processing circuit 5. The fixed grating 1 is a fixed grating structure provided by any embodiment in the application, and the rotation axis of the fixed grating 1 is the same as the rotation axis of the movable grating 2. Wherein the light source 2 comprises, but is not limited to, an LED lamp.
The photoelectric encoder disclosed by the embodiment of the application comprises the fixed grating, and the fixed grating is of the fixed grating structure provided by the embodiment of the application. Therefore, the photoelectric encoder with the fixed grating has all the technical effects of the embodiment, namely, the fixed grating and the movable grating can be matched to generate waveforms close to ideal sinusoidal signals through the signal processing circuit, so that the sine of source signals for electronic subdivision is ensured, the precision of electronic subdivision is improved, and the difficulty that the photoelectric encoder needs to meet high resolution and small size at the same time is solved.
It should be noted that the fixed grating and the photoelectric encoder according to the above embodiments may further include other necessary components or structures, and the corresponding arrangement positions and connection relationships may refer to similar devices in the prior art, and the connection relationships, operation and operation principles of the structures not described are known to those skilled in the art, and will not be described in detail herein.
In this specification, some embodiments are described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are enough to refer to each other.
The foregoing is merely exemplary of embodiments of the present invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A fixed grating for an optoelectronic encoder is characterized by comprising an absolute code channel (101) and a sinusoidal code channel (102) which are concentrically arranged, wherein,
the number of the absolute code channels (101) is X, X is more than 1 and X is an integer;
the sine code channel (102) is composed of n sector rings (1021) which are sequentially connected in the circumferential direction, n is more than 1, n is an integer, each sector ring (1021) is concentric with the absolute code channel (101), the sineThe corresponding central angle of the code channel (102) is theta, which satisfies theta=pi/2 X The central angle of each fan ring (1021) is theta/n, and the areas of n fan rings (1021) are changed in a sine function in the circumferential direction;
the length of a bus of an mth fan ring (1021) of the sine code channel (102) in the circumferential direction is H m Meets the requirements of H m And (n/n), wherein H is the length of a fan ring generatrix corresponding to an angular bisector of the central angle theta of the sinusoidal code track (102), m is not less than 1 and not more than n, and m is an integer, and the midpoint of the generatrix of each fan ring (1021) is positioned on the same circular arc concentric with the absolute code track (101).
2. The fixed grating for an optoelectronic encoder according to claim 1, wherein the number of absolute tracks (101) is 8, the corresponding central angle θ = pi/2 of the sinusoidal tracks (102) 8 。
3. The fixed grating for an optoelectronic encoder of claim 1, wherein the number of sector rings (1021) in the sinusoidal tracks (102) is 30, the area ratio of the fan rings (1021) satisfies 195:578:1133:1840:2672:3596:4577:5577:6557:7481:8313:9020:9575:9958:10153:10153:9958:9575:9020:8313:7481:6557:5577:4577:3596:2672:1840:1133:578:195.
4. The fixed grating for an optoelectronic encoder of claim 1, wherein the sinusoidal tracks (102) are provided in plurality.
5. The fixed grating for an optoelectronic encoder according to claim 1, wherein the fixed grating (1) is made of optical glass.
6. An optoelectronic encoder, characterized in that it comprises a fixation grating (1) for an optoelectronic encoder according to any one of claims 1 to 5.
7. The photoelectric encoder according to claim 6, further comprising a light source (2), a moving grating (3), a photosensitive unit (4), and a signal processing circuit (5).
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| JPH08233605A (en) * | 1995-02-22 | 1996-09-13 | Yaskawa Electric Corp | Capacitance type encoder |
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