CN110031024B - Incremental encoder - Google Patents
Incremental encoder Download PDFInfo
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- CN110031024B CN110031024B CN201910334030.9A CN201910334030A CN110031024B CN 110031024 B CN110031024 B CN 110031024B CN 201910334030 A CN201910334030 A CN 201910334030A CN 110031024 B CN110031024 B CN 110031024B
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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
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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 an incremental encoder which comprises a cylindrical rotary table, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit, wherein the cylindrical rotary table is provided with a first magnetic grid reading head and a second magnetic grid reading head; the magnetic grid ruler is circumferentially arranged on the side surface of the cylindrical turntable and rotates along with the rotation of the cylindrical turntable; the first magnetic grid reading head and the second magnetic grid reading head are fixedly arranged at positions away from the magnetic grid ruler by a preset distance, are positioned on a straight line where the same diameter of the cylindrical turntable is located, and are both used for recording data information of the magnetic grid ruler in the rotating process of the cylindrical turntable to respectively obtain first data and second data; and the data processing circuit is used for obtaining the rotation parameters corresponding to the cylindrical rotary table according to the first data and the second data. The incremental encoder in the application is simple in structure, low in cost, strong in bearing capacity to environmental conditions, strong in stability and wide in application range.
Description
Technical Field
The embodiment of the invention relates to the technical field of measuring equipment, in particular to an incremental encoder.
Background
The incremental encoder is a rotation angle sensor without an absolute zero position, and can measure the rotation angle, the angular speed and the angular acceleration of a shaft; the pulse signals collected by the reading head are converted into the angle, the angular velocity and the angular acceleration of the rotating shaft by using an electronic technology. Incremental encoders are widely used because of their relatively simple manufacturing process, relatively high angular resolution, and relatively low production cost.
The incremental encoder most commonly used in the control field in the industry is an incremental photoelectric encoder. The part for recording the rotation angle information in the incremental photoelectric encoder is an encoding disc, the incremental photoelectric encoding disc is made of glass generally, the requirement on the use environment is high, and particularly in the working environment with oil stain, dust, vibration and high temperature, the performance of the incremental photoelectric encoder is obviously reduced.
In view of the above, how to provide an incremental encoder that solves the above technical problems becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention aims to provide an incremental encoder which is simple in structure, low in cost, strong in bearing capacity on environmental conditions, strong in stability and wide in application range.
In order to solve the above technical problem, an embodiment of the present invention provides an incremental encoder, including a cylindrical turntable, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head, and a data processing circuit; wherein:
the magnetic grid ruler is circumferentially arranged on the side surface of the cylindrical turntable and rotates along with the rotation of the cylindrical turntable; the first magnetic grid reading head and the second magnetic grid reading head are fixedly arranged at positions away from the magnetic grid ruler by a preset distance, the first magnetic grid reading head and the second magnetic grid reading head are positioned on a straight line where the same diameter of the cylindrical rotary table is located, and the first magnetic grid reading head and the second magnetic grid reading head are both used for recording data information of the magnetic grid ruler in the rotating process of the cylindrical rotary table to respectively obtain first data and second data; and the data processing circuit is used for obtaining the rotation parameters corresponding to the cylindrical rotary table according to the first data and the second data.
Optionally, the process of obtaining the rotation parameter corresponding to the cylindrical turntable according to the first data and the second data is as follows:
determining the position of a gap between the head end and the tail end of the magnetic grid ruler according to the first data and the second data;
correspondingly compensating one of the first data and the second data according to the position of the notch and preset compensation information to obtain compensated data; wherein the preset compensation information is obtained in advance;
and obtaining rotation parameters corresponding to the cylindrical rotary table according to the compensated data.
Optionally, the corresponding compensation is performed on one of the first data and the second data according to the position of the gap and preset compensation information, and a process of obtaining compensated data is as follows:
and judging whether the notch passes through the first magnetic grid reading head or not according to the position of the notch, if so, adding the absolute value of the first data and the preset compensation information to obtain compensated data.
Optionally, the process of obtaining the rotation parameter corresponding to the cylindrical turntable according to the compensated data is as follows:
and obtaining the rotation parameters corresponding to the cylindrical rotary table according to the compensated data and the calculation relational expression corresponding to the rotation parameters.
Optionally, the rotation parameter includes one or more of a rotation angle, an angular velocity and an angular acceleration.
Optionally, the preset distance is 0.1 mm-2 mm.
Optionally, the height of the cylindrical turntable is 1 cm.
Optionally, the cylindrical turntable is a circumferential turntable manufactured based on steel.
The embodiment of the invention provides an incremental encoder which comprises a cylindrical rotary table, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit, wherein the cylindrical rotary table is provided with a first magnetic grid reading head and a second magnetic grid reading head; the magnetic grid ruler is circumferentially arranged on the side surface of the cylindrical turntable and rotates along with the rotation of the cylindrical turntable; the first magnetic grid reading head and the second magnetic grid reading head are fixedly arranged at positions away from the magnetic grid ruler by a preset distance, are positioned on a straight line where the same diameter of the cylindrical turntable is located, and are both used for recording data information of the magnetic grid ruler in the rotating process of the cylindrical turntable to respectively obtain first data and second data; and the data processing circuit is used for obtaining the rotation parameters corresponding to the cylindrical rotary table according to the first data and the second data.
Therefore, the incremental encoder in the application is composed of a cylindrical rotary table, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit, data information of the magnetic grid ruler is recorded through the first magnetic grid reading head and the second magnetic grid reading head, and then the data processing circuit further obtains rotation parameters corresponding to the cylindrical rotary table according to first data recorded by the first magnetic grid reading head and second data recorded by the second magnetic grid reading head. The incremental encoder in the application is simple in structure, low in cost, strong in bearing capacity to environmental conditions, strong in stability and wide in application range.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an incremental encoder according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an incremental encoder which is simple in structure, low in cost, strong in bearing capacity on environmental conditions, strong in stability and wide in application range
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an incremental encoder according to an embodiment of the present invention.
The incremental encoder comprises a cylindrical rotary table 1, a magnetic grid ruler 2, a first magnetic grid reading head 3, a second magnetic grid reading head 4 and a data processing circuit 5; wherein:
the magnetic grid ruler 2 is circumferentially arranged on the side surface of the cylindrical turntable 1 and rotates along with the rotation of the cylindrical turntable 1; the first magnetic grid reading head 3 and the second magnetic grid reading head 4 are fixedly arranged at positions away from the magnetic grid ruler 2 by a preset distance, the first magnetic grid reading head 3 and the second magnetic grid reading head 4 are positioned on a straight line where the same diameter of the cylindrical turntable 1 is located, and the first magnetic grid reading head 1 and the second magnetic grid reading head 2 are both used for recording data information of the magnetic grid ruler 2 in the rotation process of the cylindrical turntable 1 to respectively obtain first data and second data; and the data processing circuit 5 is used for obtaining the rotation parameters corresponding to the cylindrical rotary table 1 according to the first data and the second data.
It should be noted that, the cylindrical turntable 1 in the incremental photoelectric encoder in this embodiment drives the magnetic scale 2 to rotate during the rotation process, when the cylindrical turntable 1 starts to rotate around the central axis thereof, the first magnetic grid reading head 3 and the second magnetic grid reading head 4 are controlled to start to record data of the magnetic grid ruler 2, specifically, the first magnetic grid reading head 3 and the second magnetic grid reading head 4 can be controlled to start to record data from zero, the data recorded by the first magnetic grid reading head 3 is first data, and outputs the first data to the data processing circuit, the data recorded by the second magnetic grid reading head 4 is the second data, and outputs the second data to the data processing circuit 5, after receiving the first data and the second data, the first data and the second data are processed and analyzed in real time, so that the rotation parameters corresponding to the cylindrical turntable 1 can be obtained.
The rotation parameters may include one or more of a rotation angle, an angular velocity, and an angular acceleration, and which of the rotation parameters may be determined according to actual needs.
Because a certain gap exists between the head end and the tail end of the magnetic grid ruler 2 arranged on the side surface of the cylindrical rotary table 1, namely the head end and the tail end of the magnetic grid ruler 2 can not be in seamless connection, a certain distance exists between the two ends, the length of the gap can be measured in advance (namely preset compensation information is obtained), specifically, when the incremental encoder is tested, the cylindrical rotary table is controlled to rotate 1, the length of the gap of the magnetic grid ruler 2 is obtained according to data information recorded by the first magnetic grid reading head 3 and data information recorded by the second magnetic grid reading head 4, for example, after the gap passes through the first magnetic grid reading head 3, the data recorded by the first magnetic grid reading head 3 and the data recorded by the second magnetic grid reading head 4 are inconsistent, the length of the gap can be determined according to the absolute value of the difference value of the data respectively recorded by the first magnetic grid reading head 3 and the second magnetic grid reading head 4, of course, the accurate value of the gap length can be obtained after multiple measurements, that is, the preset compensation information can be obtained.
Further, the process executed by the data processing circuit 5 for obtaining the rotation parameter corresponding to the cylindrical turntable 1 according to the first data and the second data may specifically be:
determining the position of a gap between the head end and the tail end of the magnetic grid ruler 2 according to the first data and the second data;
correspondingly compensating one of the first data and the second data according to the position of the notch and preset compensation information to obtain compensated data; wherein the preset compensation information is obtained in advance;
and obtaining the rotation parameters corresponding to the cylindrical rotary table 1 according to the compensated data.
It should be noted that, in the use process of the incremental encoder, the first magnetic grid reading head 3 and the second magnetic grid reading head 4 record data information of the magnetic grid ruler 1 in real time in the rotation process of the cylindrical turntable 1, and the position of the notch of the magnetic grid ruler 2 can be determined by analyzing the first data recorded by the first magnetic grid reading head 3 and the second data recorded by the second magnetic grid reading head 4, for example, in this embodiment, the first data recorded by the first magnetic grid reading head 3 can be used as reference data, so that the first data is correspondingly compensated according to the position of the notch and preset compensation information, so as to obtain compensated data, the compensated data is the actual circumference length passed by the first magnetic grid reading head 3, and the relevant rotation parameter of the cylindrical turntable 1 can be obtained according to the compensated data, for example, if the rotation parameter is a rotation angle, then the data can be obtained according to the compensated data and the vertical distance between the reading end of the first magnetic grid reading head 3 and the central shaft of the cylindrical turntable 1; if the rotation parameter is the angular velocity, the rotation angle can be calculated firstly, and the angular velocity can be obtained according to the rotation angle and the rotation duration of the cylindrical turntable. Furthermore, one of the first data and the second data is correspondingly compensated according to the position of the gap and the preset compensation information, and the process of obtaining the compensated data is as follows:
and judging whether the gap passes through the first magnetic grid reading head or not according to the position of the gap, and if so, adding the absolute value of the first data and preset compensation information to obtain compensated data.
Specifically, the position of the notch can be determined by comparing the first data with the second data in real time, the cylindrical turntable 1 is assumed to rotate anticlockwise, and the anticlockwise direction is assumed to be the positive direction, so that when the first data is smaller than the second data, the notch position is indicated to pass through the first magnetic grid reading head 3, at this time, the first data needs to be corrected by adopting preset compensation information (namely, the length of the notch), and therefore the corrected first data can more accurately represent the actual circumference of the first magnetic grid reading head 3 which currently runs through.
It should be noted that, since the cylindrical turntable 1 may pass through the first magnetic grid reading head 3 many times in the whole rotation process, in this embodiment, the first data and the second data may be analyzed in real time, and it is determined whether the gap passes through the first magnetic grid reading head 3 according to the position of the gap, after the gap passes through the first magnetic grid reading head 3, the first data currently recorded by the first magnetic grid reading head 3 is compensated to update the first data, and the second data and the updated first data are continuously analyzed, and after it is determined again that the gap passes through the first magnetic grid reading head 3, the preset compensation data is used to compensate and update the current first data until the cylindrical turntable 1 stops rotating, at this time, the latest obtained first data is also compensated data.
Specifically, if the counterclockwise direction is assumed to be the positive direction, but the actual rotation direction of the cylindrical turret 1 is clockwise, when the first data is compensated, the data obtained by subtracting the gap length from the first data may be used as the compensated data. No matter whether the set positive direction is consistent with the actual rotating direction of the cylindrical turntable 1 or not, a numerical value corresponding to the compensated data can be obtained only by adding the absolute value of the first data and the gap length, and the direction of the numerical value can be determined according to the actual positive direction and the actual rotating direction. In the present embodiment, the rotation parameters corresponding to the cylindrical turntable 1 can be further obtained as long as the final compensated data can be obtained.
Further, the process of obtaining the rotation parameter corresponding to the cylindrical turntable 1 according to the compensated data may specifically be:
and obtaining the rotation parameters corresponding to the cylindrical rotary table 1 according to the compensated data and the calculation relation corresponding to the rotation parameters.
It can be understood that different calculation relations corresponding to different rotation parameters, so in this embodiment, after the compensated data is obtained, the corresponding rotation parameter may be calculated according to the calculation relation corresponding to the specific rotation parameter. For example, if the rotation parameter is a rotation angle, a specific value of the rotation angle may be obtained according to a calculation relation corresponding to the rotation angle; when the rotation parameter is an angular velocity, a specific value of the angular velocity can be obtained according to a calculation relation corresponding to the angular velocity; when the rotation parameter is angular acceleration, a specific value of the angular acceleration may be obtained from a calculation relational expression corresponding to the angular acceleration. Specifically, how to obtain the rotation angle, the angular velocity and the angular acceleration according to the rotational displacement of the cylindrical turntable 1 (i.e. the circumferential length passed by the first magnetic grid reading head 3) is in the prior art, and this embodiment is not described in detail herein.
Further, the preset distance is 0.1 mm-2 mm.
Specifically, the first magnetic grid reading head 3 and the second magnetic grid reading head 4 in this embodiment may be fixedly disposed at positions 0.1mm to 2mm away from the magnetic grid ruler 2, and a specific value of the preset distance in this embodiment may be determined according to an actual situation, which is not specifically limited in this application.
It should be noted that the height of the cylindrical turntable 1 in the present embodiment may be (but is not limited to) 1cm, and may be (but is not limited to) a circumferential turntable made of steel. Of course, the height and material of the cylindrical turntable 1 can be determined according to actual needs, and the purpose of this embodiment can be achieved without special limitation.
In addition, the data processing circuit 5 in this embodiment may also be connected to a display device or a control device, so as to output the obtained rotation parameter to the display device for displaying, or output the obtained rotation parameter to the control device, so that the control device performs a corresponding control operation according to the corresponding rotation parameter.
Therefore, the incremental encoder in the application is composed of a cylindrical rotary table, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit, data information of the magnetic grid ruler is recorded through the first magnetic grid reading head and the second magnetic grid reading head, and then the data processing circuit further obtains rotation parameters corresponding to the cylindrical rotary table according to first data recorded by the first magnetic grid reading head and second data recorded by the second magnetic grid reading head. The incremental encoder in the application is simple in structure, low in cost, strong in bearing capacity to environmental conditions, strong in stability and wide in application range.
It is further noted that, in the present specification, relational terms such as first and second, and the like are 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present 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. An incremental encoder is characterized by comprising a cylindrical rotary table, a magnetic grid ruler, a first magnetic grid reading head, a second magnetic grid reading head and a data processing circuit; wherein:
the magnetic grid ruler is circumferentially arranged on the side surface of the cylindrical turntable and rotates along with the rotation of the cylindrical turntable; the first magnetic grid reading head and the second magnetic grid reading head are fixedly arranged at positions away from the magnetic grid ruler by a preset distance, the first magnetic grid reading head and the second magnetic grid reading head are positioned on a straight line where the same diameter of the cylindrical rotary table is located, and the first magnetic grid reading head and the second magnetic grid reading head are both used for recording data information of the magnetic grid ruler in the rotating process of the cylindrical rotary table to respectively obtain first data and second data; the data processing circuit is used for obtaining rotation parameters corresponding to the cylindrical rotary table according to the first data and the second data;
the process of obtaining the rotation parameters corresponding to the cylindrical turntable according to the first data and the second data is as follows:
determining the position of a gap between the head end and the tail end of the magnetic grid ruler according to the first data and the second data;
correspondingly compensating one of the first data and the second data according to the position of the notch and preset compensation information to obtain compensated data; wherein the preset compensation information is obtained in advance;
and obtaining rotation parameters corresponding to the cylindrical rotary table according to the compensated data.
2. The incremental encoder according to claim 1, wherein the corresponding compensation is performed on one of the first data and the second data according to the position of the gap and preset compensation information, and the process of obtaining the compensated data is as follows:
and judging whether the notch passes through the first magnetic grid reading head or not according to the position of the notch, if so, adding the absolute value of the first data and the preset compensation information to obtain compensated data.
3. The incremental encoder according to claim 2, wherein said deriving the rotation parameter corresponding to said cylindrical turntable from said compensated data comprises:
and obtaining the rotation parameters corresponding to the cylindrical rotary table according to the compensated data and the calculation relational expression corresponding to the rotation parameters.
4. An incremental encoder according to any one of claims 1-3, wherein the rotation parameters comprise one or more of rotation angle, angular velocity and angular acceleration.
5. The incremental encoder according to claim 4, wherein said predetermined distance is 0.1mm to 2 mm.
6. The incremental encoder according to claim 4, wherein the height of said cylindrical turntable is 1 cm.
7. The incremental encoder according to claim 4, wherein said cylindrical turntable is a circumferential turntable made from steel.
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| CN111014945B (en) * | 2019-12-19 | 2021-11-30 | 苏州迅镭激光科技有限公司 | Zero-focus compensation method for intelligent laser cutting head |
| CN111845132A (en) * | 2020-06-30 | 2020-10-30 | 杭州宏华数码科技股份有限公司 | Conduction band stepping control mechanism of conduction band type ink-jet printing machine and control method thereof |
| CN112284300A (en) * | 2020-10-12 | 2021-01-29 | 长春汇通光电技术有限公司 | Angular displacement measuring method, device and system and computer readable storage medium |
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| CN101532815B (en) * | 2009-04-24 | 2011-05-11 | 广州市诺信数字测控设备有限公司 | Magnetoscale supporting plate structure |
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