CN110031029A - A kind of absolute type encoder - Google Patents
A kind of absolute type encoder Download PDFInfo
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- CN110031029A CN110031029A CN201910334503.5A CN201910334503A CN110031029A CN 110031029 A CN110031029 A CN 110031029A CN 201910334503 A CN201910334503 A CN 201910334503A CN 110031029 A CN110031029 A CN 110031029A
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- absolute type
- convex platform
- position sensor
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- 230000008859 change Effects 0.000 claims description 12
- 238000009826 distribution Methods 0.000 claims description 2
- 241001416181 Axis axis Species 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 10
- 238000005259 measurement Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 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
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
Abstract
The invention discloses a kind of absolute type encoders, including wheel disc, at least three position sensors, fixed structure and processor for fixing each position sensor, the first disk in wheel disc and the setting of the second disk consistency from top to bottom, connecting shaft is set between the first disk and the second disk, with the distance between circumferential edges less than at the first preset value, for being fixedly connected with the first disk and the second disk；Central axis is nonpenerative to be set on the first disk and the second disk, for driving the first disk and the second disk to rotate synchronously；Each position sensor be distributed along the even circumferential of the first disk and the second disk and with connecting shaft it is in the same plane, be respectively used to obtain respectively with the distance between connecting shaft information；Processor, for determining the angle information of wheel disc according to each range information and default corresponding relationship；Absolute type encoder structure in the application is simple, at low cost, has stronger ability to bear to environmental condition, stability is stronger, the scope of application is wider.
Description
Technical field
The present embodiments relate to technical field of measuring equipment, more particularly to a kind of absolute type encoder.
Background technique
Photoelectric encoder is a kind of high-precision that can measure the physical quantitys such as angular speed, spin angular position and geometric displacement amount
Sensor；It utilizes photoelectric technology, is converted into pulse output by the physical quantity that photoelectric conversion measures needs or digital quantity is defeated
Out.According to the form for portraying mode and output signal of code-disc, photoelectric encoder is divided into absolute type and increment type.
Currently, most widely used absolute type encoder is absolute type photoelectric coding in field of industrial automation control
Device, the primary structure of absolute optical encoder have light source, main shaft, code-disc, slit, photelectric receiver and data processing circuit
Deng.However, the manufacturing cost of photoelectric encoder is relatively high, structure is more complex, and the requirement to use environment condition is more severe
Carve, greasy dirt, dust, vibration, high temperature environment in working performance substantially reduce.
In consideration of it, how to provide a kind of absolute type encoder of solution above-mentioned technical problem needs as those skilled in the art
It solves the problems, such as.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of absolute type encoder, structure is simple, at low cost, and to environment item
Part has stronger ability to bear, and stability is stronger, the scope of application is wider.
In order to solve the above technical problems, the embodiment of the invention provides a kind of absolute type encoder, including wheel disc, at least three
It a position sensor, the fixed structure for fixing each position sensor and connect with each position sensor
Processor, wherein the wheel disc includes the first disk, size the second disk identical with first disk, cylindric connecting shaft
And central axis, in which:
First disk and the second disk consistency from top to bottom setting, the connecting shaft are set to first disk and institute
State between the second disk, with the distance between circumferential edges less than at the first preset value, for being fixedly connected with first disk
With second disk；The central axis is nonpenerative to be set on first disk and second disk, for driving
First disk and second disk rotate synchronously；Each position sensor is along first disk and described second
The even circumferential of disk is distributed, each position sensor with the connecting shaft is in the same plane, it is each to be respectively used to obtain
From with the distance between connecting shaft information；The processor, for according to each range information and default corresponding relationship
Determine the angle information of the wheel disc.
Optionally, the wheel disc further includes the balance element in the same plane with the connecting shaft and the central axis, institute
It states balance element and is set on first disk and second disk the distance between circumferential edges less than the second preset value
Place, the weight for balancing the connecting shaft.
Optionally, the balance element includes convex platform and lower convex platform, and the convex platform is set to the upper of first disk
Surface, the lower convex platform are set to the lower surface of second disk, and first disk is located at the top of second disk,
The convex platform and the lower convex platform are coaxial.
Optionally, first preset value is equal with second preset value, the weight of the convex platform and the lower convex platform
Amount is the half of the connecting shaft weight.
Optionally, the convex platform and the lower convex platform are cylindric, and size is identical.
Optionally, the radius of the convex platform and the lower convex platform is equal with the radius of the connecting shaft.
Optionally, the processor is built specifically for the radius according to each range information, the connecting shaft and in advance
The distance between vertical, each position sensor and the connecting shaft axis are determined described with the change curve of corner variation
The angle information of wheel disc.
Optionally, the radius of first disk and second disk is 30mm.
Optionally, first preset value is 3mm.
The embodiment of the invention provides a kind of absolute type encoder, including wheel disc, at least three position sensors, for solid
The fixed structure of fixed each position sensor and the processor being connect with each position sensor, wherein wheel disc includes the first circle
Disk, size the second disk identical with the first disk, cylindric connecting shaft and central axis, wherein on the first disk and the second disk
Lower alignment setting, connecting shaft are set between the first disk and the second disk, are default less than first with the distance between circumferential edges
At value, for being fixedly connected with the first disk and the second disk；Central axis is nonpenerative to be set on the first disk and the second disk,
For driving the first disk and the second disk to rotate synchronously；Each position sensor is equal along the circumference of the first disk and the second disk
Even distribution, each position sensor with connecting shaft is in the same plane, be respectively used to obtain respectively with the distance between connecting shaft letter
Breath；Processor, for determining the angle information of wheel disc according to each range information and default corresponding relationship.
As it can be seen that the absolute type encoder in the present embodiment is during rotation, can be measured using each position sensor
The distance between each position sensor and connecting shaft, processor can be according to the range informations that each sensor detects and default
Corresponding relationship further determines that out angle information corresponding with each range information, so that turning for absolute type encoder can be obtained
Dynamic angle.Absolute type encoder in the application is not only simple in structure, is at low cost, and can adapt to more rugged environment,
There is stronger ability to bear to environmental condition, stability is stronger, the scope of application is wider.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of top view of absolute type encoder provided in an embodiment of the present invention；
Fig. 2 is the side view of absolute type encoder shown in FIG. 1；
Fig. 3 is the top view of the wheel disc in Fig. 1 and Fig. 2；
Fig. 4 is the side view of wheel disc corresponding with Fig. 3；
Fig. 5 is the top view of another absolute type encoder provided in this embodiment；
Fig. 6 is the side view of the absolute type encoder in Fig. 5；
Fig. 7 is the side view of the wheel disc in Fig. 5 and Fig. 6；
Fig. 8 is the song that the distance between a kind of position sensor that the present invention provides in real time and connecting shaft axis change with corner
Line schematic diagram.
Specific embodiment
The embodiment of the invention provides a kind of absolute type encoder, structure is simple, at low cost, and has to environmental condition
Stronger ability to bear, stability is stronger, the scope of application is wider.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1-Fig. 4 is please referred to, Fig. 1 is a kind of top view of absolute type encoder provided in an embodiment of the present invention, and Fig. 2 is figure
The side view of absolute type encoder shown in 1, Fig. 3 are the top view of the wheel disc in Fig. 1 and Fig. 2, and Fig. 4 is wheel corresponding with Fig. 3
The side view of disk.
The absolute type encoder, including wheel disc 1, at least three position sensors 2, for fixing each position sensor
Fixed structure 3 and the processor being connect with each position sensor, wherein wheel disc 1 includes the first disk 11, size and the first circle
Identical second disk 12 of disk 11, cylindric connecting shaft 13 and central axis 14, in which:
First disk 11 and the setting of 12 consistency from top to bottom of the second disk, connecting shaft 13 are set to the first disk 11 and the second disk 12
Between, with the distance between circumferential edges less than at the first preset value, for being fixedly connected with the first disk 11 and the second disk 12；
Central axis 14 is nonpenerative to be set on the first disk 11 and the second disk 12, for driving the first disk 11 and the second disk 12
It rotates synchronously；Each position sensor 2 is distributed along the even circumferential of the first disk 11 and the second disk 12, each position sensor
2 with connecting shaft 13 is in the same plane, be respectively used to obtain respectively with the distance between connecting shaft 13 information；Processor, for according to
The angle information of wheel disc is determined according to each range information and default corresponding relationship.
The disk specifically, wheel disc in the present embodiment is as shown in Figure 3 and Figure 4, such as above is the first disk 11, below
Disk be the second disk 12, wherein one end of central axis 14 is fixed on the upper surface of the first disk 11, and the other end is fixed on the
The lower surface of two disks, central axis 14 is not passed through the first disk 11 and the second disk 12, so that each position sensor 2 and connecting shaft
There is no barrier between 13, thus each position sensor 2 be able to detect that respectively with connect the distance between 13 information,
In, each position sensor 2 in the present embodiment is equal with the distance between central axis 14.In addition, provided by the present embodiment
Fixed structure in absolute type encoder is used to fix each position sensor 2, for example, stationary fixture etc., which kind of is specifically used
Structure, which is fixed, to be determined according to actual needs, and the present embodiment is not specifically limited, and is mentioned in the present embodiment
The attached drawing of confession is the corresponding top view of absolute type encoder part-structure or side view, wherein fixed structure and processor do not have
It is shown in figure.
It should be noted that the wheel disc 1 in absolute type encoder in the present embodiment is by 14 band of central axis in rotation
Dynamic first disk 11 and the rotation of the second disk 12, and will drive 13 turns of connecting shaft when the first disk 11 and the second disk 12 rotate
Dynamic, each position sensor 2 can be with the distance of real-time detection position sensor 2 itself to connecting shaft 13 in 1 rotation process of wheel disc.By
It is distributed in each position sensor 2 along the even circumferential of the first disk 11 and the second disk 12, so in 1 rotation process of wheel disc
In, the distance value that each position sensor 2 detects is different, and for detected by any one position sensor 2
Distance value can constantly change with the corner of wheel disc 1.It can be previously according to the quantity of position sensor 2 and adjacent in the present embodiment
Angle between two position sensors 2 measures range information measured by each position sensor 2 and wheel disc 1 in advance
Variation relation between rotational angle, the corresponding one group of range information of the angle information of each crank degree, in every group of range information
Including the range information that each position sensor 2 is respectively measured in the rotational angle, thus establish every group of range information with
The corresponding relationship of rotational angle, when user uses the absolute type encoder measurement angle, processor can be according to each position
Each range information detected by sensor 2 and the default corresponding relationship pre-established, further determine that out with it is current each
The corresponding angle information of range information.
In addition, in order to keep the range information of each position sensor measurement only related with the corner of wheel disc 1, so this implementation
Connecting shaft 13 in example is cylindrical connecting shaft.
Further, the wheel disc 1 in the present embodiment can also include in the same plane with connecting shaft 13 and central axis 14
Balance element 15, balance element 15 is set on the first disk 11 and the second disk 12, with the distance between circumferential edges less than the
Weight at two preset values, for balancing connecting shaft 13.
Specifically, in order to avoid wheel disc from deviating in 1 rotation process of wheel disc in the present embodiment, it is possible to first
Balance element 15 is set on disk 11 and the second disk 12, wherein is generally aligned in the same plane balance element 15, central axis 14 and connecting shaft 13
On, and balance element 15 is set to position of the circumferential edges less than the second preset value of distance the first disk 11 and the second disk 12
Place, wherein the second preset value should be determined according to the weight of the first preset value, the weight of connecting shaft 13 and balance element 15, with flat
The weight of weighing apparatus connecting shaft 13, and then guarantee the balance in 1 rotation process of wheel disc.
Further, specifically-Fig. 7, Fig. 5 are another absolute type encoder provided in this embodiment referring to figure 5.
Top view, Fig. 6 are the side view of the absolute type encoder in Fig. 5, and Fig. 7 is the side view of the wheel disc in Fig. 5 and Fig. 6.This implementation
Balance element 15 in example includes convex platform 151 and lower convex platform 152, and convex platform 151 is set to the upper surface of the first disk 11, under it is convex
Platform 152 is set to the lower surface of the second disk 12, and the first disk 11 is located at the top of the second disk 12, and convex platform 151 is convex under
Platform 152 is coaxial.
It should be noted that the balance element 15 in the present embodiment may include two parts component (convex platform 151 and lower convex platform
152), and be respectively arranged on the first disk 11 and the second disk 12 on, and convex platform 151 at a distance of the first disk 11 circle
The distance of circumferential edges and lower convex platform 152 are equidistant at a distance of the circumferential edges of the second disk 11, so as in 1 rotation process of wheel disc
In connecting shaft 13 is better balanced.
Specifically, the first preset value in the present embodiment is equal with the second preset value, convex platform 151 and lower convex platform 152
Weight is the half of 13 weight of connecting shaft.
It is understood that can be enabled in the present embodiment convex platform 151 at a distance of the first disk 11 circumferential edges distance,
Distance circumference with connecting shaft 13 and first disk 11 and two disks 12 of the lower convex platform 152 at a distance of the circumferential edges of the second disk 12
Edge is equidistant, and enabling the weight of convex platform 151 and lower convex platform 152 is the half of 13 weight of connecting shaft, to provide system
The stability of system.Wherein, further for convenient for design and debugging, convex platform 151 and lower convex platform 152 in the present embodiment can be with
It is the identical cylindrical boss of size, and the height of each boss can be equal for the half of connecting shaft, the radius of each boss
For the half of connecting shaft.
Further, processor, specifically for the radius according to each range information, connecting shaft 13 and pre-establish, it is each
The distance between a position sensor 2 and 13 axis of connecting shaft determine the angle information of wheel disc with the change curve that corner changes.
It should be noted that can be previously according to 2 institute of position sensor each in 1 rotation process of wheel disc in the present embodiment
The radius of the distance between the respective and connecting shaft 13 detected information and connecting shaft 13 establishes each position sensor 13 and connecting shaft 13
The distance between axis with the change curve between 1 corner of wheel disc, such as when including that three positions pass in absolute type encoder
When sensor, the angle between two neighboring position sensor 2 is 120 °, it is assumed that wheel disc 1 rotates to be positive direction, and this counterclockwise
Position pair when the zero point of absolute type encoder is the axis and 21 minimum distance of position coder of connecting shaft 13 in inventive embodiments
(axis of connecting shaft 13 is R-r) at a distance from position coder 21 to the angle answered at this time, specifically, in the rotation counterclockwise of wheel disc 1
When turning, the distance between axis of the position sensor 21 that can be previously obtained and connecting shaft 13 is with the variation between 1 corner of wheel disc
Curve is the curve 1 in Fig. 8, and the distance between axis 13 of position sensor 22 and connecting shaft 13 is with the change between 1 corner of wheel disc
Change curve as the curve 2 in Fig. 8, the distance between axis 13 of position sensor 23 and connecting shaft 13 is between 1 corner of wheel disc
Change curve is the curve 3 in Fig. 8, as seen from Figure 8, the corresponding one group of range information of each angle information, therefore, subsequent
In measurement process, it is only necessary to range information detected by each position sensor is obtained, according to each range information and connecting shaft
13 radius information, it will be able to obtain one group of range information, further according to default change curve, can be obtained and this group of range information
Corresponding angle information.
Specifically, the distance between position sensor 21 and the axis of connecting shaft 13 are with the variation function of cornerThe distance between axis of position sensor 22 and connecting shaft 13 with corner variation letter
Number isThe distance between axis of position sensor 23 and connecting shaft 13 is with turning
The variation function at angle isWherein, L1Indicate position sensor 21 and connecting shaft
The distance between 13 axis, L2Indicate the distance between the axis of position sensor 22 and connecting shaft 13, L3Indicate position sensor
23 indicate the distance between central axis and position sensor with the distance between the axis of connecting shaft 13, R；R indicates connecting shaft and center
The distance between axis, θ indicate the angle that wheel disc turns over.Wherein, L1、L2And L3It can be detected according to corresponding position sensor
To range information and the radius of connecting shaft obtain.
Certainly, it if not considering the radius information of connecting shaft 13, pre-establishes each position sensor 13 and (connects with connecting shaft 13
The side of axis 13) the distance between with the change curve between 1 corner of wheel disc, to only need according to each position sensing
Corresponding angle information can be obtained in the range information of the detection of device 13 and the corresponding change curve pre-established.Which is specifically used
Kind mode establishes region of variation, can be determined according to actual needs, the present embodiment does not do particular determination.
In addition, the radius of the first disk 11 and the second disk 12 in the present embodiment can be 30mm, and first is pre-
If value and the second preset value can be 3mm, certainly, for the specific size of the radius of the first disk 11 and the second disk 12,
And first the specific value of preset value and the second preset value can be determined according to the actual situation, the present embodiment is not spy
It is different to limit.
As it can be seen that the absolute type encoder in the present embodiment is during rotation, can be measured using each position sensor
The distance between each position sensor and connecting shaft, processor can be according to the range informations that each sensor detects and default
Corresponding relationship further determines that out angle information corresponding with each range information, so that turning for absolute type encoder can be obtained
Dynamic angle.Absolute type encoder in the application is not only simple in structure, is at low cost, and can adapt to more rugged environment,
There is stronger ability to bear to environmental condition, stability is stronger, the scope of application is wider.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of absolute type encoder, which is characterized in that including wheel disc, at least three position sensors, for fixing each institute
The processor stating the fixed structure of position sensor and being connect with each position sensor, wherein the wheel disc includes the
One disk, size the second disk identical with first disk, cylindric connecting shaft and central axis, in which:
First disk and the second disk consistency from top to bottom setting, the connecting shaft are set to first disk and described the
Between two disks, with the distance between circumferential edges less than at the first preset value, for being fixedly connected with first disk and institute
State the second disk；The central axis is nonpenerative to be set on first disk and second disk, is described for driving
First disk and second disk rotate synchronously；Each position sensor is along first disk and second disk
Even circumferential distribution, each position sensor with the connecting shaft is in the same plane, be respectively used to obtain respectively with
The distance between connecting shaft information；The processor, for being determined according to each range information and default corresponding relationship
The angle information of the wheel disc out.
2. absolute type encoder according to claim 1, which is characterized in that the wheel disc further includes and the connecting shaft and institute
State central axis balance element in the same plane, the balance element is set on first disk and second disk,
The distance between circumferential edges less than at the second preset value, the weight for balancing the connecting shaft.
3. absolute type encoder according to claim 2, which is characterized in that the balance element includes that convex platform is convex under
Platform, the convex platform are set to the upper surface of first disk, and the lower convex platform is set to the lower surface of second disk,
First disk is located at the top of second disk, and the convex platform and the lower convex platform are coaxial.
4. absolute type encoder according to claim 3, which is characterized in that first preset value is default with described second
It is worth equal, the weight of the convex platform and the lower convex platform is the half of the connecting shaft weight.
5. absolute type encoder according to claim 4, which is characterized in that the convex platform and the lower convex platform are circle
Column, and size is identical.
6. absolute type encoder according to claim 5, which is characterized in that the radius of the convex platform and the lower convex platform
It is equal with the radius of the connecting shaft.
7. absolute type encoder described in -6 any one according to claim 1, which is characterized in that the processor, it is specific to use
In the radius according to each range information, the connecting shaft and pre-establish, each position sensor and the company
The distance between axis axis determines the angle information of the wheel disc with the change curve that corner changes.
8. absolute type encoder according to claim 7, which is characterized in that first disk and second disk
Radius is 30mm.
9. absolute type encoder according to claim 7, which is characterized in that first preset value is 3mm.
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| CN201910334503.5A CN110031029B (en) | 2019-04-24 | 2019-04-24 | Absolute encoder |
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| CN201910334503.5A CN110031029B (en) | 2019-04-24 | 2019-04-24 | Absolute encoder |
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