CN110388943A - Encoder - Google Patents
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- CN110388943A CN110388943A CN201910307807.2A CN201910307807A CN110388943A CN 110388943 A CN110388943 A CN 110388943A CN 201910307807 A CN201910307807 A CN 201910307807A CN 110388943 A CN110388943 A CN 110388943A
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- magneto
- magneto sensor
- sensor portion
- encoder
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- 238000001514 detection method Methods 0.000 claims description 34
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 230000004907 flux Effects 0.000 abstract description 89
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 38
- 238000012937 correction Methods 0.000 description 19
- 229910052742 iron Inorganic materials 0.000 description 19
- 238000012360 testing method Methods 0.000 description 18
- 238000012545 processing Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 239000004615 ingredient Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 4
- 230000005284 excitation Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000002715 modification method Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- TWDJIKFUVRYBJF-UHFFFAOYSA-N Cyanthoate Chemical compound CCOP(=O)(OCC)SCC(=O)NC(C)(C)C#N TWDJIKFUVRYBJF-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 239000000758 substrate Substances 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
- G01D5/12—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
- G01D5/14—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 the magnitude of a current or voltage
- G01D5/142—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 the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—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 the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- 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
- G01D5/24471—Error correction
- G01D5/24485—Error correction using other sensors
-
- 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
- G01D5/249—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 pulse code
- G01D5/2497—Absolute encoders
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention provides a kind of high-precision and the encoder of the influence that is able to suppress external magnetic flux.Encoder (1) includes multiple magneto sensor sensor portions (60) comprising the first magneto sensor (70) and the second magneto sensor (79) that detect the position of magnet (30), as magneto sensor sensor portion (60), at least provided with the first magneto sensor sensor portion (61) and the second magneto sensor sensor portion (62), first magneto sensor sensor portion (61) and the second magneto sensor sensor portion (62) are to configure in such a way, i.e., the first magneto sensor (70) mutual output of first magneto sensor sensor portion (61) and the second magneto sensor sensor portion (62), and second the mutual output of magneto sensor (79) be configured at the position of the phase difference in terms of electrical angle with 180 ° of even-multiple 30 ° or less i.e. in terms of mechanical angle.
Description
Technical field
The present invention relates to a kind of encoder (encoder).
Background technique
Since in the past, various encoders have been used always.Wherein, mostly using the magnetic encoder for utilizing magneto sensor.
For example, in patent document 1, disclosing a kind of shifting that can carry out magnetic scale with 90 ° of phase difference in terms of electrical angle
The rotary encoder (rotary encoder) of dynamic detection.
Also, for example, disclosing a kind of magnetic encoder comprising in patent document 2 and patent document 3 with machinery
The Hall sensor (magneto sensor) and be configured at relative to these Hall sensors with machinery that goniometer is configured every 90 °
Goniometer respectively deviates the Hall sensor of 60 ° of position.
[existing technical literature]
[patent document]
[patent document 1] Japanese Patent Laid-Open 2012-118000 bulletin
[patent document 2] WO2007/132603 bulletin
[patent document 3] WO2009/84346 bulletin
Summary of the invention
[problem to be solved by the invention]
It, can be with by carrying out the mobile detection of magnetic scale with 90 ° of phase difference in terms of electrical angle as disclosed in patent document 1
Be formed as high-precision encoder.
It, can also be with by configuring magneto sensor on multiple positions also, as disclosed in patent document 2 and patent document 3
Be formed as high-precision encoder.
But in magnetic encoder, sometimes because to the device comprising the encoder drive etc. and by
The influence of external magnetic flux, and the performance of encoder declines.Also, for example, being only arranged multiple can be in terms of electrical angle with 90 °
The position detected of phase difference on be provided with the unit of magneto sensor, the influence of external magnetic flux can not be inhibited.That is, according to institute
The position of unit (magneto sensor) or the mode etc. of the mutual connection of magneto sensor are stated, there is the influence that can not inhibit external magnetic flux
The case where.
Therefore, the purpose of the present invention is to provide a kind of high-precision and be able to suppress external magnetic flux influence coding
Device.
[technical means to solve problem]
The encoder of the first embodiment of the present invention includes: magnet, is alternately magnetized with multiple poles N and the pole S；And it is multiple
Magneto sensor sensor portion, including detecting the first magneto sensor of the position of the magnet and being configured at relative to described first
The second magnetosensitive that the output of magneto sensor has the position of 90 ° of phase difference in terms of electrical angle and detects the position of the magnet is first
Part；And as the magneto sensor sensor portion, at least provided with the first magneto sensor sensor portion and the second magneto sensor
Sensor portion, the first magneto sensor sensor portion and the second magneto sensor sensor portion are to match in such a way
It sets, that is, the output of first magneto sensor of the first magneto sensor sensor portion and second magneto sensor sense
Second magneto sensor of the output and the first magneto sensor sensor portion of first magneto sensor in device portion
Exporting the output with second magneto sensor of the second magneto sensor sensor portion and being configured at has in terms of electrical angle
The position of the phase difference of 180 ° of odd-multiple is 30 ° in terms of mechanical angle hereinafter, by the first magneto sensor sensor portion
Positive output terminal is connect with the negative output terminal of the second magneto sensor sensor portion, and first magneto sensor is passed
The negative output terminal in sensor portion is connect with the positive output terminal of the second magneto sensor sensor portion.
It include multiple magneto sensor sensor portions according to the present embodiment, the magneto sensor sensor portion is can be with electricity
It is provided with magneto sensor on the position that goniometer is detected with 90 ° of phase difference, therefore is capable of forming as high-precision coding
Device.Also, being configured at by the mutual output of the first magneto sensor and the mutual output of the second magneto sensor has in terms of electrical angle
The position of the phase difference of 180 ° of odd-multiple be 30 ° in terms of mechanical angle modes below and configure the first magneto sensor sensor
Portion and the second magneto sensor sensor portion, also, the positive output terminal of the first magneto sensor sensor portion and the second magnetosensitive is first
The negative output terminal of part sensor portion is connected, by the negative output terminal of the first magneto sensor sensor portion and the second magnetosensitive member
The positive output terminal of part sensor portion is connected.That is, by making to be configured at 1/2 period of in terms of magnetic cycle phase phase deviation
One of the output of the first magneto sensor sensor portion and the second magneto sensor sensor portion on position, that is, close position
It inverts and is equalized, the influence of external magnetic flux can be inhibited.
The encoder of the second embodiment of the present invention includes: magnet, is alternately magnetized with multiple poles N and the pole S；And it is multiple
Magneto sensor sensor portion, including detecting the first magneto sensor of the position of the magnet and being configured at relative to described first
The second magnetosensitive that the output of magneto sensor has the position of 90 ° of phase difference in terms of electrical angle and detects the position of the magnet is first
Part；And as the magneto sensor sensor portion, at least provided with the first magneto sensor sensor portion and the second magneto sensor
Sensor portion, the first magneto sensor sensor portion and the second magneto sensor sensor portion are to match in such a way
It sets, that is, the output of first magneto sensor of the first magneto sensor sensor portion and second magneto sensor sense
Second magneto sensor of the output and the first magneto sensor sensor portion of first magneto sensor in device portion
Exporting the output with second magneto sensor of the second magneto sensor sensor portion and being configured at has in terms of electrical angle
The position of the phase difference of 180 ° of even-multiple is 30 ° in terms of mechanical angle hereinafter, by the first magneto sensor sensor portion
Positive output terminal is connect with the positive output terminal of the second magneto sensor sensor portion, and first magneto sensor is passed
The negative output terminal in sensor portion is connect with the negative output terminal of the second magneto sensor sensor portion.
According to the present embodiment, including multiple magneto sensor sensor portions, the magneto sensor sensor portion is can be with
It is provided with magneto sensor on the position that electrical angle meter is detected with 90 ° of phase difference, therefore is capable of forming as high-precision volume
Code device.Also, it is configured at and has in terms of electrical angle by the mutual output of the first magneto sensor and the mutual output of the second magneto sensor
Have the position of the phase difference of 180 ° of even-multiple i.e. in terms of mechanical angle 30 ° of modes below and configure the first magneto sensor sensing
Device portion and the second magneto sensor sensor portion, also, by the positive output terminal of the first magneto sensor sensor portion and the second magnetosensitive
The positive output terminal in element sensor portion is connected, by the negative output terminal and the second magnetosensitive of the first magneto sensor sensor portion
The negative output terminal in element sensor portion is connected.That is, by making to be configured at phase deviation a cycle part in terms of the magnetic cycle phase
Position, that is, close position on the first magneto sensor sensor portion and the second magneto sensor sensor portion output equalization,
It can inhibit the influence of external magnetic flux.
The encoder of the third embodiment of the present invention is according to described the first embodiment or the second embodiment, first magnetosensitive
Element sensor portion and the second magneto sensor sensor portion are to configure in such a way, that is, the first magnetosensitive member
First magneto sensor of part sensor portion and first magneto sensor of the second magneto sensor sensor portion and
Described the of second magneto sensor of the first magneto sensor sensor portion and the second magneto sensor sensor portion
Two magneto sensors were configured within two periods in terms of the magnetic cycle phase.
According to the present embodiment, the first magneto sensor sensor portion and the second magneto sensor sensor portion are configured at magnetic cycle
Phase is calculated as in the narrow range within two periods.Therefore, the influence of external magnetic flux can effectively be inhibited.
Any implementation of the encoder of the fourth embodiment of the present invention according to the first embodiment into 3rd embodiment
Example, the magneto sensor sensor portion are that have first magneto sensor and second magnetosensitive member in a packaging body
Part.
According to the present embodiment, the first magneto sensor and the second magneto sensor are provided in a packaging body, therefore can
The first magneto sensor and the second magneto sensor are positioned with high precision, so as to be formed as especially high-precision coding
Device.
Any implementation of the encoder of the fifth embodiment of the present invention according to the first embodiment into fourth embodiment
Example, first magneto sensor and second magneto sensor are Hall elements.
According to the present embodiment, the first magneto sensor and the second magneto sensor are Hall elements, can individually detect magnetic field
Direction (discrimination of the pole N and the pole S), therefore can inexpensively form encoder.
Any implementation of the encoder of the sixth embodiment of the present invention according to the first embodiment into the 5th embodiment
Example, first magneto sensor and second magneto sensor are magnetoresistive elements.
According to this embodiment, it can encoder is formed using magnetoresistive element, so the rotating excitation field of opposite magnet is detected,
Therefore compared with the strong and weak situation for detecting magnetic flux as Hall element, even if because of the shake for magnetizing uneven or rotating part
So that magnetic flux density is changed, also can steadily detect rotation position.
Any implementation of the encoder of the seventh embodiment of the present invention according to the first embodiment into sixth embodiment
Example, the magnet are the first rotary magnets for being alternately magnetized with multiple poles N and the pole S in a circumferential direction, and the encoder
The second rotary magnetic including that can rotate together with and be magnetized in a circumferential direction the pole N and the pole S with first rotary magnet
Second rotary magnet magneto sensor of the position of iron and detection second rotary magnet.
It not only can detecte rotation using the second rotary magnet and the second rotary magnet magneto sensor according to the present embodiment
Turn the rotation amount of magnet (the first rotary magnet), and can detecte absolute position.
Any implementation of the encoder of the eighth embodiment of the present invention according to the first embodiment into the 7th embodiment
Example, the magneto sensor sensor portion is by the first magneto sensor sensor portion and the second magneto sensor sensor portion two
Person is constituted.
According to the present embodiment, magneto sensor sensor portion includes that the first magneto sensor sensor portion and the second magneto sensor pass
Both sensor portions, so encoder can be formed inexpensively.
Any implementation of the encoder of the ninth embodiment of the present invention according to the first embodiment into the 7th embodiment
Example, the encoder is that the magnet is the rotation for being alternately magnetized with the rotary magnet of multiple poles N and the pole S in a circumferential direction
Encoder, as the magneto sensor sensor portion, in addition to the first magneto sensor sensor portion and second magnetosensitive member
Other than part sensor portion, the first magneto sensor sensor portion at least on the basis of by the rotary shaft of the rotary magnet or
The opposite side of the second magneto sensor sensor portion is provided with including first magneto sensor and second magneto sensor
Third magneto sensor sensor portion.
The first magneto sensor sensor portion or the second magnetic according to the present embodiment, on the basis of by the rotary shaft of rotary magnet
The opposite side in quick element sensor portion is provided with third magneto sensor sensor portion, therefore senses using from the first magneto sensor
The output (testing result) of device portion or the second magneto sensor sensor portion and from third magneto sensor sensor portion output (inspection
Survey result), even if produce magnetic flux variation in rotary magnet, also it is able to suppress the influence that the magnetic flux changes.
[The effect of invention]
The present invention can provide a kind of high-precision and the encoder of the influence that is able to suppress external magnetic flux.
Detailed description of the invention
Fig. 1 is the explanatory diagram (perspective view) indicated using there is appearance of encoder of the invention (rotary encoder) etc..
Fig. 2 is the explanatory diagram (top view) indicated using there is appearance of encoder of the invention etc..
Fig. 3 is the side view for indicating to cut a part using the fixed body for having encoder of the invention.
Fig. 4 is the explanation for indicating the layout using the rotary magnet and magneto sensor sensor portion that have encoder of the invention
Figure.
Fig. 5 is the explanatory diagram indicated using the testing principle having in encoder of the invention.
Fig. 6 is the explanatory diagram indicated using the testing principle having in encoder of the invention.
Fig. 7 is the explanation for indicating the basic structure of the determination method using the angle position having in encoder of the invention
Figure.
Fig. 8 is for illustrating using the magneto sensor sensor portion relative to rotary magnet having in encoder of the invention
Configuration approximate vertical view.
Fig. 9 is for illustrating using the magneto sensor sensor portion relative to rotary magnet having in encoder of the invention
Configuration outline enlarged drawing.
Figure 10 is the figure for indicating the wiring using the magneto sensor sensor portion having in encoder of the invention.
Figure 11 is to indicate using a magneto sensor sensor portion, and without external magnetic flux, no magnetic flux changes, without spin magnetic
Lisa in the case that the rotation of iron deviates eats (Lissajous) round figure.
Figure 12 is to indicate using two magneto sensor sensor portions, and without external magnetic flux, no magnetic flux changes, without spin magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 13 is to indicate using a magneto sensor sensor portion, and without external magnetic flux, no magnetic flux changes, without spin magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 14 is to indicate using two magneto sensor sensor portions, and without external magnetic flux, no magnetic flux changes, without spin magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 15 is to indicate using a magneto sensor sensor portion, and has external magnetic flux, and no magnetic flux changes, without spin magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 16 is to indicate using two magneto sensor sensor portions, and has external magnetic flux, and no magnetic flux changes, without spin magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 17 is to indicate using a magneto sensor sensor portion, and has external magnetic flux, and no magnetic flux changes, without spin magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 18 is to indicate using a magneto sensor sensor portion, and has external magnetic flux, has magnetic flux variation, without spin magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 19 is to indicate using two magneto sensor sensor portions, and has external magnetic flux, has magnetic flux variation, without spin magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 20 is to indicate using a magneto sensor sensor portion, and has external magnetic flux, has magnetic flux variation, without spin magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 21 is to indicate using two magneto sensor sensor portions, and has external magnetic flux, has magnetic flux variation, without spin magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 22 is to indicate using four magneto sensor sensor portions, and has external magnetic flux, has magnetic flux variation, there is rotary magnetic
Lisa in the case that the rotation of iron deviates eats round figure.
Figure 23 is to indicate using four magneto sensor sensor portions, and has external magnetic flux, has magnetic flux variation, there is rotary magnetic
The figure of detection angles error in the case where the rotation deviation of iron.
Figure 24 is for illustrating using the magneto sensor sensor relative to rotary magnet having in encoder of the invention
The outline enlarged drawing of the configuration in portion.
Figure 25 is the figure for indicating the wiring using the magneto sensor sensor portion having in encoder of the invention.
[explanation of symbol]
1: encoder (rotary encoder)
2: rotary body
10: fixed body
11: supporting member
12: matrix
13: sensor support plate
15: sensor base plate
16: terminal
17: connector
20: the second rotary magnets
21,31: magnetizing surface
30: the first rotary magnets
40,50: magneto sensor sensor portion (the second rotary magnet magneto sensor)
41,42,43,44: magnetic resistance pattern
51,52: magneto sensor sensor portion
60: magneto sensor sensor portion (the first rotary magnet magneto sensor)
61: magneto sensor sensor portion (the first magneto sensor sensor portion)
62: magneto sensor sensor portion (the second magneto sensor sensor portion)
63: magneto sensor sensor portion (third magneto sensor sensor portion)
64: magneto sensor sensor portion (the 4th magneto sensor sensor portion)
70: the first magneto sensors
71,72,73,74,75,76,77,78: magneto sensor
79: the second magneto sensors
90: data processing division
91,92,93: amplifier
121: base plate
122: opening portion
123: main part
124: protrusion
125: hole
191,192,193: screw
201,202,203,204: output line
Cos, sin: sine wave signal
GND: ground terminal
HE1N, HE2N: negative output terminal
HE1P, HE2P: positive output terminal
L: rotation axis direction
L1: the side on the L of rotation axis direction
The opposite side of the side L2:L1
VC: voltage terminal
Specific embodiment
Hereinafter, illustrating one embodiment of encoder of the invention (rotary encoder).
Furthermore in the following description, one embodiment of rotary encoder is illustrated, but coding of the invention
Device is not limited to rotary encoder, such as is also possible to linear encoder (linear encoder).
It furthermore include magnet and magnetosensitive member with magneto sensor sensor portion in the following description, as rotary encoder
It is illustrated centered on the magnetic-type rotary encoder of part (magnetoresistive element, Hall element).At this moment, it can use and be set on fixed body
It is equipped with magnet and is provided with the structure of magneto sensor on rotary body and is provided with magneto sensor on fixed body and is rotating
Any structure being provided on body in the structure of magnet, but in the following description, it is so that magnetosensitive member to be arranged on fixed body
Part is illustrated centered on the structure of setting rotary magnet on rotary body.That is, also including in " rotary magnet " below
Do not rotated with the rotary magnet, the structure of magneto sensor rotation and the case where use.Also, referring to attached drawing in,
The structure of rotary magnet and magneto sensor etc. is schematically illustrated, exists and for example to the number of magnetic poles in rotary magnet or comes from
The case where item number of the output line of magneto sensor etc. reduces its quantity and indicates.Also, for ease of understanding structure, there is omission
(simplification) indicates the case where a part of constitutional detail.
(overall structure)
Fig. 1 is the explanatory diagram for indicating appearance of encoder 1 of the present embodiment etc., is from the side on the L of rotation axis direction
The perspective view of (side L1) and inclined direction observation encoder 1.Also, Fig. 2 is to indicate appearance of encoder 1 of the present embodiment etc.
Explanatory diagram is the top view from the side (side L1) on the L of rotation axis direction.Moreover, Fig. 3 is to indicate to cut the present embodiment
Encoder 1 fixed body 10 a part side view.
Fig. 1 to encoder 1 shown in Fig. 3 be to rotary body 2 relative to fixed body 10 around axis (around rotary shaft
Line) rotation carry out the device of magnetic detection, fixed body 10 is fixed on the frame etc. of motor apparatus, rotary body 2 be with motor
It is used in the state of the connection such as rotating output shaft of device.Fixed body 10 includes sensor base plate 15 and support sensor base
Multiple supporting members 11 of plate 15, in the present embodiment, supporting member 11 include the bottom comprising being formed with circular opening portion 122
The matrix 12 in plate portion 121 and the sensor support plate 13 being fixed on matrix 12.Furthermore in figs. 1 to 3, although in order to
Be easy to observe internal structure and omit expression, but on the basis of by rotation axis direction L and with 11 phase of supporting member in figure
To position on, be formed with (the supporting member 11 wherein of supporting member 11 of structure same as the supporting member 11
On be formed with aftermentioned magneto sensor sensor portion 61 and magneto sensor sensor portion 62, formed on another supporting member 11
There are aftermentioned magneto sensor sensor portion 63 and magneto sensor sensor portion 64).Also, on each supporting member 11, setting
There are magneto sensor sensor portion 60 (magneto sensor sensor portion 61, magneto sensor sensing with the i.e. magneto sensor of Hall element
Device portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64, referring to Fig. 4), details will be retouched later
It states.Magneto sensor sensor portion 60 be include detect magnetic field direction magneto sensor magneto sensor sensor portion, the magnetic
Field is formed by the first rotary magnet 30 for being alternately magnetized with multiple poles N and the pole S in a circumferential direction on magnetizing surface 31.
Sensor support plate 13 is that substantially cylindric main part 123, institute are fixed on by screw 191, screw 192 etc.
State substantially cylindric main part 123 be over substrate 12 from the marginal portion of opening portion 122 on the L of rotation axis direction one
Side, that is, side L1 is prominent.Furthermore the opposite side of the side L1 on the L of rotation axis direction in figures 1 and 3, is expressed as the side L2.From biography
L1 side of the sensor support plate 13 on the L of rotation axis direction protrudes more butt 16.It is located at rotation axis in main part 123
On the end face of the side L1 on the L of direction, it is formed with protrusion 124 or hole 125 etc., it is sharp on main part 123 using described hole 125 etc.
It is waited with screw 193 and is fixed with sensor base plate 15.At this moment, sensor base plate 15 is to be positioned at predetermined bits by protrusion 124 etc.
The state set and accurately fix.
In sensor base plate 15, connector 17 is provided on the face of the side L1 on the L of rotation axis direction.In addition, In
On sensor base plate 15, it is provided with magnetic resistance (magnetic resistance, MR) element (MR element) i.e. magneto sensor sensor
Portion 40 and Hall element, that is, magneto sensor sensor portion 50.Magneto sensor sensor portion 40 and magneto sensor sensor portion
50 be the magneto sensor for detecting the direction in magnetic field, and the magnetic field is the by being magnetized with each pole N and the pole S on magnetizing surface 21
Two rotary magnets 20 are formed.
Rotary body 2 be include the first rotary magnet 30 and the second rotary magnet 20 etc., be configured at the inside of main part 123
Cylindric component (is not schemed in the inside of the rotary body 2 by the rotating output shaft that chimeric equal method links motor
Show).Therefore, rotary body 2 can be rotated around axis.
(layout of rotary magnet and magneto sensor sensor portion)
Fig. 4 is the explanatory diagram of the rotary magnet for indicating the encoder 1 of the present embodiment and the layout of magneto sensor sensor portion.
Furthermore in Fig. 4, arrow is the direction of rotation of the first rotary magnet 30.Also, the data processing division 90 in Fig. 4 includes being based on
The program being pre-stored in memory (not shown) and run central processing unit (Central Processing Unit,
CPU) etc..
As shown in figure 3, being provided with multiple magneto sensor sensor portions described below in the encoder 1 of the present embodiment
(four magneto sensor sensor portions 60 in the magnetic field of the first rotary magnet 30 of detection and the magnetic for detecting the second rotary magnet 20
The magneto sensor sensor portion 40 and two magneto sensor sensor portions 50 of field).
The encoder 1 of the present embodiment in the side of rotary body 2, relative to the second rotary magnet 20 radial outside mutually from
There is the first rotary magnet 30, first rotary magnet 30 is to make alternately to be magnetized with multiple N in a circumferential direction on position
The cricoid magnetizing surface 31 of pole and the pole S is towards the side L1 on the L of rotation axis direction.In first rotary magnet 30 of the present embodiment
In, it is formed with total 32 pairs of the pole N and pair of the pole S.But the logarithm of the pole N and the pole S is not limited to 32 pairs.Also, this implementation
The encoder 1 of example is in the side of fixed body 10, including the magnetizing surface 31 relative to the first rotary magnet 30 on the L of rotation axis direction
Opposite magneto sensor sensor portion 60 (the magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor in the side L1
Sensor portion 63 and magneto sensor sensor portion 64).About magneto sensor sensor portion 60 (magneto sensor sensor portion 61, magnetic
Quick element sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64) details will retouch later
It states.
The encoder 1 of the present embodiment includes 21 direction of magnetizing surface for making to be magnetized with each pole N and the pole S in a circumferential direction
Second rotary magnet 20 of the side L1 on the L of rotation axis direction.Also, the encoder 1 of the present embodiment is in the side of fixed body 10, packet
Include the opposite magneto sensor sensor portion in L1 side of the magnetizing surface 21 relative to the second rotary magnet 20 on the L of rotation axis direction
40 and the opposite magneto sensor in L1 side of the magnetizing surface 21 relative to the second rotary magnet 20 on the L of rotation axis direction pass
Sensor portion 50 (magneto sensor sensor portion 51 and magneto sensor sensor portion 52).Magneto sensor sensor portion 52 is configured at relatively
In magneto sensor sensor portion 51 on the position that center of rotation axis (circumferencial direction) deviates 90 ° in terms of mechanical angle.
First rotary magnet 30 and the second rotary magnet 20 are integrally rotated around rotation axis with rotary body 2.Second
Rotary magnet 20 includes discoid permanent magnet.First rotary magnet 30 is cylindrical, is configured at relative to the second rotary magnetic
Iron 20 radial outside mutually from position on.First rotary magnet 30 and the second rotary magnet 20 include bonding magnet (bonded
Magnet) etc..
Magneto sensor sensor portion 40 be include relative to the second rotary magnet 20 mutually in terms of electrical angle with 90 ° of phase
The magnetoresistive element of the magnetic resistance pattern of the magnetic resistance pattern and B phase (COS) of the A phase (SIN) of potential difference.In the magneto sensor sensor portion
In 40, the magnetic resistance pattern of A phase includes the magnetic for having 180 ° of phase difference and carrying out the+a phase (SIN+) of the mobile detection of rotary body 2
Hinder the magnetic resistance pattern 41 of pattern 43 and-a phase (SIN-).The magnetic resistance pattern of B phase includes the phase difference with 180 ° and is rotated
The magnetic resistance pattern 44 of+b phase (COS+) of the mobile detection of body 2 and the magnetic resistance pattern 42 of-b phase (COS-).Herein, the magnetic of+a phase
The magnetic resistance pattern 41 for hindering pattern 43 and-a phase constitutes bridgt circuit (bridge circuit), the magnetic resistance pattern 44 and-b phase of+b phase
Magnetic resistance pattern 42 also constitute bridgt circuit in the same manner as the magnetic resistance pattern 43 of+a phase and the magnetic resistance pattern 41 of-a phase.
In the present embodiment, magneto sensor sensor portion 40, magneto sensor sensor portion 51, magneto sensor sensor portion 52
And magneto sensor sensor portion 60 (magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63
And magneto sensor sensor portion 64) be all set on the face of the side L2 on the rotation axis direction L of sensor base plate 15 (referring to figure
3).Also, on sensor base plate 15, it is provided with the amplifier 91 being electrically connected with magneto sensor sensor portion 40 and magnetosensitive member
The amplifier 92 that part sensor portion 50 is electrically connected and the amplifier 93 being electrically connected with magneto sensor sensor portion 60.Also, it will be defeated
Until outlet 201 is connected to data processing division 90 via amplifier 93 from magneto sensor sensor portion 61, make from magneto sensor
The output line 202 of sensor portion 62 is connected to output line 201, make the output line 203 from magneto sensor sensor portion 63 than
The tie point of output line 201 and output line 202 more leans on 90 side of data processing division to be connected to output line 201, makes from magneto sensor
The output line 204 of sensor portion 64 is connected to output line 203.Furthermore in Fig. 4, output line 201, output line 202, output line
203 and output line 204 be simplifiedly expression (details referring to Fig.1 0).
The encoder 1 of the present embodiment is laid out as described above by being formed as, can be according to magneto sensor sensor portion 40
And the testing result of magneto sensor sensor portion 50, detect the rough absolute position of the second rotary magnet 20 (that is, rotary body
2 rough absolute position).In addition, can detecte out the first rotary magnetic according to the testing result of magneto sensor sensor portion 60
The detailed rotation amount (i.e. the detailed rotation amount of rotary body 2) of iron 30.Also, it is based on magneto sensor sensor portion 40 and magneto sensor
The testing result of sensor portion 50 and the testing result of magneto sensor sensor portion 60 can detecte out the detailed exhausted of rotary body 2
To position (angle position).
The encoder 1 of the present embodiment, but can also as described above, use Hall element as magneto sensor sensor portion 60
To use magnetoresistive element (MR element) as magneto sensor sensor portion 60.When use magnetoresistive element as magneto sensor sensor
It is not magnetized comprising one week in a circumferential direction part alternating as in this embodiment as the first rotary magnet 30 when portion 60
There is the magnet of the structure of the cricoid magnetizing surface 31 of multiple poles N and the pole S, and the structure comprising following magnetizing surface 31 can be used
Magnet, the magnetizing surface 31 are configured in a circumferential direction that two weeks parts are alternately magnetized with multiple poles N and S in inside and outside
Pole, on the inside and the outside, the pole N and the extremely different (tartan: staggeredly) of S.When use magnetoresistive element as
When magneto sensor sensor portion 60, by using this first rotary magnet 30, magnetoresistive element can use to detect circumference side
The variation in upward magnetic field and the variation in magnetic field radially, i.e. detection rotating excitation field.
(testing principle of angle position)
Fig. 5 is the explanatory diagram of the testing principle in the encoder 1 for indicate the present embodiment, is defeated from magneto sensor sensor portion
The explanatory diagram of signal out etc..Also, Fig. 6 is the explanatory diagram of the testing principle in the encoder 1 for indicate the present embodiment, is to indicate
The explanatory diagram of the relationship of the angle position (electrical angle) of the signal and rotary body 2 that are indicated in Fig. 5.Moreover, Fig. 7 is to indicate this implementation
The explanatory diagram of the basic structure of the determination method of angle position in the encoder 1 of example.
As shown in figure 4, in the encoder 1 of the present embodiment, magneto sensor sensor portion 40, magneto sensor sensor portion 50
And the output of magneto sensor sensor portion 60 is to export via amplifier 91, amplifier 92 and amplifier 93 to slotting comprising carrying out
The data processing division 90 of the CPU of value processing or various calculation process etc..Data processing division 90 is based on coming from magneto sensor sensor
The output in portion 40, magneto sensor sensor portion 50 and magneto sensor sensor portion 60 finds out the rotary body 2 relative to fixed body 10
Angle position (absolute position).
More specifically, in an encoder 1, if the rotation of rotary body 2 is turned around, the magnetizing surface 21 of the second rotary magnet 20
It changes shown in sine wave of the magnetic flux as the top of Fig. 5.If the rotation of rotary body 2 is turned around, the second rotary magnet 20 is just
Rotation is turned around, therefore exports for two weeks as shown in Fig. 5 second sine wave from top from magneto sensor sensor portion 40
Sine wave signal sin, the sine wave signal cos of phase.Therefore, in data processing division 90, as long as shown in fig. 6, according to just
String wave signal sin, sine wave signal cos find out θ=tan-1(sin/cos), so that it may know the angular position of rotary body 2.Also,
In the present embodiment, it on the position for deviateing 90 ° from the center of the second rotary magnet 20, is each equipped with as Hall element
Magneto sensor sensor portion 51 and magneto sensor sensor portion 52.Therefore, such as by third waveform and the figure from top of Fig. 5
It is such known to the waveform of 5 bottom, it is known that whether current location is located at appointing in sine wave signal sin, sine wave signal cos
One section, it is known that the absolute angular position of rotary body 2.
Also, the detailed construction about magneto sensor sensor portion 60 is described further below, each magneto sensor sensor
Portion 60 (magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor
Portion 64) include the first magneto sensor 70 (referring to Fig. 8) and there are 90 ° in terms of electrical angle with first magneto sensor 70
The second magneto sensor 79 on the position of phase difference (phase difference on the basis of the phase of the first rotary magnet 30) is (referring to figure
8).It is alternately to be magnetized with multiple poles N and the pole S using on circumferencial direction also, in the encoder of the present embodiment 1
Cricoid magnetizing surface 31 the first rotary magnet 30, whenever rotary body 2 rotate the first rotary magnet 30 magnetic pole a week
When the phase, just from 60 (the magneto sensor sensor portion of each magneto sensor sensor portion with first rotary magnet 30 in opposite directions
61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64) output sine wave signal
Sin, sine wave signal cos.In detail, sine wave signal cos is exported from the first magneto sensor 70, from the second magneto sensor 79
Export sine wave signal sin.Accordingly, with respect to sine wave signal sin, the sine wave exported from each magneto sensor sensor portion 60
Signal cos, as long as also as shown in fig. 6, finding out θ=tan according to sine wave signal sin, sine wave signal cos-1(sin/cos),
The angular position of the rotary body 2 in the angle of a cycle part of the magnetic pole of the first rotary magnet 30 is equivalent to known to just.
Therefore, in the present embodiment, based on the absolute angle data (number of the top of Fig. 7 for revolving a cycle that turns around
According to) and rotation turn around increment (incremental) angle-data (second data from top of Fig. 7) in N number of period, to examine
Survey the angle position of the moment of rotary body 2.Therefore, even if the resolution ratio in the absolute angle data for revolving a cycle that turns around is low
In the case where, also as shown in high-resolution absolute value data (data of the bottom of Fig. 7), the absolute of high resolution can be obtained
Angle-data.
When using the detection mode, the absolute angle interpolation of data for revolving a cycle that turns around is divided into first by production
Second absolute angle data of the quantity (positive integer that N is 2 or more) of the pole pair of rotary magnet 30, detection moment come from magnetosensitive
The output of element sensor portion 40 and magneto sensor sensor portion 50 be located at periods 1 of the second absolute angle data, 2 ... n-1,
N, which in n+1 ... N in period.Also, detection moment is equivalent to incremental angular from the output of magneto sensor sensor portion 60
Which of the period 1 of degree evidence, 2 ... m-1, m, m+1 ... N.Also, by the magneto sensor sensor portion 40 of moment
And the output in magneto sensor sensor portion 50 is located at which of the second absolute angle data in period and is set as the upper of numerical data
Which position that output from magneto sensor sensor portion 60 is equivalent to incremental angle data is set as numerical data by data
The next data detect the absolute angular position of the rotary body 2 of moment.
In data processing division 90 shown in Fig. 4, it is provided with the second absolute angle data of storage and incremental angle data
Memory (not shown).In addition, being provided with angle position determining section (not shown), the angle position in data processing division 90
Set determining section be the output from magneto sensor sensor portion 40 and magneto sensor sensor portion 50 based on moment, moment come
From the output of magneto sensor sensor portion 60, the second absolute angle data for being stored in memory and it is stored in memory
Incremental angle data determine the absolute angular position of the rotary body 2 of moment.
(configuration of the magneto sensor sensor portion 60 relative to the first rotary magnet 30)
Secondly, illustrating the structure of the magneto sensor sensor portion 60 of the encoder 1 of the present embodiment and relative to the first rotation
Turn the configuration of each magneto sensor sensor portion 60 of magnet 30.
Herein, Fig. 8 is for illustrating the magnetosensitive member relative to the first rotary magnet 30 in the encoder 1 of the present embodiment
Part sensor portion 60 (magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magnetosensitive member
Part sensor portion 64) configuration approximate vertical view.Furthermore in fig. 8, arrow is the direction of rotation of the first rotary magnet 30.
Also, Fig. 9 is for illustrating the magneto sensor sensor portion relative to the first rotary magnet 30 in the encoder 1 of the present embodiment
61, the outline amplification of the configuration of magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64
Figure.Also, Figure 10 is the magneto sensor sensor portion relative to the first rotary magnet 30 in the encoder 1 for indicate the present embodiment
61, the figure of the wiring of magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64.
As can be seen from figures 8 and 9, the magneto sensor sensor portion 61, magneto sensor sensor portion 62 of the present embodiment, magnetosensitive member
Part sensor portion 63 and magneto sensor sensor portion 64 include two magneto sensors (the first magneto sensor 70 and the second magnetosensitive member
Part 79).Specifically, magneto sensor sensor portion 61 includes as the magneto sensor 71 of the first magneto sensor 70 and as second
The magneto sensor 72 of magneto sensor 79, magneto sensor sensor portion 62 include as the first magneto sensor 70 magneto sensor 73 and
As the magneto sensor 74 of the second magneto sensor 79, magneto sensor sensor portion 63 includes the magnetosensitive as the first magneto sensor 70
Element 75 and magneto sensor 76 as the second magneto sensor 79, magneto sensor sensor portion 64 include being used as the first magneto sensor
70 magneto sensor 77 and magneto sensor 78 as the second magneto sensor 79.The magneto sensor sensor portion 61 of the present embodiment,
Magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64 are only with respect to the first rotary magnetic
The configuration of iron 30 is different, remaining is all the same.
Also, as shown in figure 9, in magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor
In portion 63 and magneto sensor sensor portion 64, the first magneto sensor 70 and the second magneto sensor 79 are configured at and the first rotary magnetic
The pole N of the magnetizing surface 31 of iron 30 and S it is extremely corresponding in terms of electrical angle with 90 ° of phase difference position (in terms of the magnetic cycle phase every
Open the position in 1/4 period) on.The magneto sensor sensor portion 60 of the present embodiment is and as above by being formed as this structure
It is described, when rotary body 2 rotates a cycle part of the magnetic pole of the first rotary magnet 30, with regard to output sine wave signal sin, just
String wave signal cos.
Also, as shown in figure 9, magneto sensor sensor portion 62 is configured at output phase for magneto sensor sensor portion 61
Output has in terms of electrical angle on the position (separating the position of a half period in terms of the magnetic cycle phase) of the signal of 540 ° of phase difference.
Also, as can be seen from figures 8 and 9, magneto sensor sensor portion 63 is configured at relative to magneto sensor sensor portion 61 with mechanical angle
Degree deviates on 180 ° of position (position for deviateing 180 ° in terms of mechanical angle in a circumferential direction), magneto sensor sensor portion 64
It is configured on the position for deviateing 180 ° in terms of mechanical angle relative to magneto sensor sensor portion 62.
That is, the output relative to the first magneto sensor from magneto sensor sensor portion 61, that is, magneto sensor 71, comes from
In the output of first magneto sensor of magneto sensor sensor portion 62, that is, magneto sensor 73, sine wave signal cos is in terms of the magnetic cycle phase
Deviate 1/2 period.Also, relative to the first magneto sensor from magneto sensor sensor portion 61, that is, magneto sensor 71
Output, the output of the first magneto sensor from magneto sensor sensor portion 63, that is, magneto sensor 75 do not have sine wave signal cos
Phase deviation.Moreover, the output relative to the first magneto sensor from magneto sensor sensor portion 63, that is, magneto sensor 75,
In the output of the first magneto sensor from magneto sensor sensor portion 64, that is, magneto sensor 77, sine wave signal cos is with magnetic cycle
Phase meter deviates 1/2 period.
Similarly, the output relative to the second magneto sensor from magneto sensor sensor portion 61, that is, magneto sensor 72,
In the output of the second magneto sensor from magneto sensor sensor portion 62, that is, magneto sensor 74, sine wave signal sin is with magnetic cycle
Phase meter deviates 1/2 period.Also, relative to the second magneto sensor from magneto sensor sensor portion 61, that is, magneto sensor
72 output, the no sine wave signal of the output of the second magneto sensor from magneto sensor sensor portion 63, that is, magneto sensor 76
The phase deviation of sin.Also, relative to the defeated of the second magneto sensor from magneto sensor sensor portion 63, that is, magneto sensor 76
Out, in the second magneto sensor, that is, magneto sensor 78 output from magneto sensor sensor portion 64, sine wave signal sin is with magnetic
Period meter deviates 1/2 period.
Due to the above, in the present embodiment, be formed as wiring as shown in Figure 10.Herein, the VC in figure
Indicate that voltage terminal, GND indicate that ground terminal, HE1P indicate the positive output terminal from the first magneto sensor 70, HE1N is indicated
Negative output terminal from the first magneto sensor 70, HE2P indicate the positive output terminal from the second magneto sensor 79, HE2N table
Show the negative output terminal from the second magneto sensor 79.Specifically, the output line 202 by magneto sensor sensor portion 62 is positive and negative
Pole is connected to the output line 201 of magneto sensor sensor portion 61 on the contrary.Also, by the output line of magneto sensor sensor portion 64
204 positive and negative anodes are connected to the output line 203 of magneto sensor sensor portion 63 on the contrary.Also, in addition, will be connected to output line
204 output line 203 with anode each other and cathode is connected to each other in the output line 201 for being connected to output line 202.
(effect of the encoder 1 of the present embodiment)
Secondly, being illustrated to the effect of the encoder 1 of the present embodiment.
Herein, Figure 11 is to indicate to only use a magneto sensor sensor portion 61, and without external magnetic flux, no magnetic flux becomes
Dynamic, the Lisa in the case that the rotation of magnet deviates without spin eats round figure.Also, Figure 12 is indicated using two magneto sensors
Sensor portion 61 and magneto sensor sensor portion 62, and without external magnetic flux, no magnetic flux changes, and the rotation of magnet deviates without spin
In the case where Lisa eat round figure.Also, Figure 13 is to indicate to only use a magneto sensor sensor portion 61, and without outside
Magnetic flux, no magnetic flux change, the figure of the detection angles error in the case that the rotation of magnet deviates without spin.Also, Figure 14 is table
Show using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62, and without external magnetic flux, no magnetic flux changes, nothing
The figure of detection angles error in the case where the rotation deviation of rotary magnet.Also, Figure 15 is to indicate to only use a magnetosensitive member
Part sensor portion 61, and have external magnetic flux, no magnetic flux changes, and the Lisa in the case that the rotation of magnet deviates without spin eats circle
Figure.Also, Figure 16 is to indicate using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62, and has outside
Magnetic flux, no magnetic flux change, and the Lisa in the case that the rotation of magnet deviates without spin eats round figure.Also, Figure 17 is to indicate only
Using a magneto sensor sensor portion 61, and there is external magnetic flux, no magnetic flux changes, the feelings that the rotation of magnet deviates without spin
The figure of detection angles error under condition.Also, Figure 18 is to indicate to only use a magneto sensor sensor portion 61, and have outside
Magnetic flux has magnetic flux variation, and the Lisa in the case that the rotation of magnet deviates without spin eats round figure.Also, Figure 19 is to indicate to make
With two magneto sensor sensor portions 61 and magneto sensor sensor portion 62, and there is external magnetic flux, has magnetic flux variation, without spin
Lisa in the case that the rotation of magnet deviates eats round figure.Also, Figure 20 is to indicate to only use a magneto sensor sensor
Portion 61, and have external magnetic flux, there is magnetic flux variation, the detection angles error in the case that the rotation of magnet deviates without spin
Figure.Also, Figure 21 is to indicate using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62, and has external magnetic
It is logical, there is magnetic flux variation, the figure of the detection angles error in the case that the rotation of magnet deviates without spin.Also, Figure 22 is to indicate
It is passed using four magneto sensor sensor portions 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor
Sensor portion 64, and have external magnetic flux, there is magnetic flux variation, the Lisa in the case where having the rotation of rotary magnet to deviate is eaten round
Figure.Also, Figure 23 is to indicate to sense using four magneto sensor sensor portions 61, magneto sensor sensor portion 62, magneto sensor
Device portion 63 and magneto sensor sensor portion 64, and have external magnetic flux, there is magnetic flux variation, the feelings for thering is the rotation of rotary magnet to deviate
The figure of detection angles error under condition.
Furthermore Figure 11, Figure 15 and Figure 18 be in the case that maximum temperature (Max) is set as 25 DEG C, -20 DEG C, 105 DEG C, with
And the differential voltage that horizontal axis is set as to magneto sensor 71 in the case that minimum temperature (Min) is set as 25 DEG C, -20 DEG C, 105 DEG C
The Lisa that the longitudinal axis is set as the differential voltage (unit V) of magneto sensor 72 is eaten circle by (unit V).Also, Figure 12, Tu16Ji
Figure 19 is to be set as 25 DEG C, -20 DEG C, 105 in the case that maximum temperature to be set as to 25 DEG C, -20 DEG C, 105 DEG C and by minimum temperature
The differential voltage (unit V) being set as horizontal axis in magneto sensor 71 and magneto sensor 73 in the case where DEG C, the longitudinal axis is set as
The Lisa of differential voltage (unit V) in magneto sensor 72 and magneto sensor 74 eats circle.Also, Figure 22 is to set maximum temperature
In the case where being set as 25 DEG C, -20 DEG C, 105 DEG C in the case where being 25 DEG C, -20 DEG C, 105 DEG C and by minimum temperature by horizontal axis
The differential voltage (unit V) being set as in magneto sensor 71, magneto sensor 73, magneto sensor 75 and magneto sensor 77, by the longitudinal axis
Magneto sensor 72, magneto sensor 74, magneto sensor 76 and the Lisa of the differential voltage (unit V) in magneto sensor 78 is set as to eat
Circle.
Also, Figure 13, Figure 14, Figure 17, Figure 20, Figure 21 and Figure 22 are to indicate for maximum temperature to be set as 25 DEG C, -20 DEG C, 105
Horizontal axis is set as to the first rotary magnet in the case where being set as 25 DEG C, -20 DEG C, 105 DEG C in the case where DEG C and by minimum temperature
30 angle position (unit is degree (deg)), the detection angles that the longitudinal axis is set as detection angles error (unit is to spend (deg)) are missed
The curve graph of difference.
When external magnetic flux, magnetic flux change, the rotation of the first rotary magnet 30 deviate without when, if only using a magnetic
Quick element sensor portion 61 there is the Lisa for being formed as shown in Figure 11 and eat round situation, and exists as shown in figure 13
Such the case where detecting angular error.On the other hand, if using two magneto sensor sensor portions 61 and magneto sensor
Sensor portion 62, the Lisa for being just formed as shown in Figure 12 eat circle, and as shown in figure 14, almost do not detect that angle is missed
Difference.
Lisa shown in Figure 12 eats the round benefit become centered on the intersection point of horizontal axis 0V and longitudinal axis 0V in concentric circles
Sa Ruyuan, therefore, as shown in figure 14, detection angles error is degree substantially 0 from 0 degree to 360.On the other hand, shown in Figure 11
Lisa eats circle and does not eat circle for the Lisa centered on the intersection point of horizontal axis 0V and longitudinal axis 0V, and detects that angle is missed as shown in figure 13
Difference.
Furthermore when use four magneto sensor sensor portions 61, magneto sensor sensor portion 62, magneto sensor sensor portion
63 and when magneto sensor sensor portion 64, with the feelings for using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62
Condition similarly, is formed as eating circle with the Lisa that Lisa shown in Figure 12 eats the substantially same shape of circle, and with shown in Figure 14
Angular error curve graph similarly, almost do not detect angular error.
When there is external magnetic flux, when deviateing without magnetic flux variation and the rotation of the first rotary magnet 30, if only using one
Magneto sensor sensor portion 61, the Lisa for being just formed as shown in Figure 15 eat circle, and detect as shown in Figure 17
Angular error.On the other hand, if be just formed as using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62
Lisa as shown in Figure 16 eats circle (it is substantially same to eat circle with Lisa shown in Figure 12), and as shown in figure 14, Ji Huwei
Detect angular error.
When using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62, almost do not detect that angle is missed
The reason of difference is, by dividing on close position as magneto sensor sensor portion 61 and magneto sensor sensor portion 62
Not Jian Ce magnetic field, and these testing results is made to combine (signal total), variation of the external magnetic field to magnetic field can be eliminated
It influences (because of the biasing (offset) in magnetic field caused by external magnetic field).Especially as in this embodiment, make magnetosensitive by being set as
The testing result of element sensor portion 61 and magneto sensor sensor portion 62 inverts and combined structure, can effectively eliminate outer
Influence of the portion magnetic field to the variation in magnetic field.
Furthermore when use four magneto sensor sensor portions 61, magneto sensor sensor portion 62, magneto sensor sensor portion
63 and when magneto sensor sensor portion 64, with the feelings for using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62
Condition similarly, is formed as eating circle with the Lisa that Lisa shown in Figure 16 eats the substantially same shape of circle, and with shown in Figure 14
Angular error curve graph similarly, almost do not detect angular error.
When thering is external magnetic flux and magnetic flux to change, when deviateing without the rotation of the first rotary magnet 30, if only using one
Magneto sensor sensor portion 62, the Lisa for being just formed as shown in Figure 18 eat circle, and detect as shown in Figure 20
Angular error.Also, if be just formed as using two magneto sensor sensor portions 61 and magneto sensor sensor portion 62 such as figure
Such Lisa shown in 19 eats circle, and detects such angular error as shown in figure 21.That is, when using two magneto sensors to pass
When sensor portion 61 and magneto sensor sensor portion 62, although less than the case where only using a magneto sensor sensor portion 62,
But detect angular error.
On the other hand, it is sensed when using four magneto sensor sensor portions 61, magneto sensor sensor portion 62, magneto sensor
When device portion 63 and magneto sensor sensor portion 64, be formed as the Lisa that round substantially same shape is eaten with Lisa shown in Figure 16
Ru Yuan, and with Figure 14 shown in angular error curve graph in the same manner as almost do not detect angular error.When four magnetic of use
When quick element sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64,
It does not almost detect to be the reason of angular error, by such as magneto sensor sensor portion 61 and magneto sensor sensor portion
63 and the opposite like that position of magneto sensor sensor portion 62 and magneto sensor sensor portion 64 (if carrying out other expression,
Then the configuration relative to the roughly equal interval of the first rotary magnet 30) on detect magnetic field respectively, and make these testing result groups
(signal is total) altogether, can eliminating influence of the magnetic flux variation to the variation in magnetic field, (magnetic field is inclined caused by changing because of magnetic flux
It sets).
Furthermore when there is magnetic flux variation, when deviateing without the rotation of external magnetic flux and the first rotary magnet 30 etc., for example, i.e.
Just using both magneto sensor sensor portion 61 and magneto sensor sensor portion 63 or magneto sensor sensor portion 62 and magnetosensitive
Both element sensor portions 64, can also effectively inhibit angular error.The reason is that even this structure, can also lead to
It crosses and magnetic field is detected respectively with substantially equally spaced configuration relative to the first rotary magnet 30, and these testing results is made to combine
(signal is total), and eliminate the influence (biasing in magnetic field caused by changing because of magnetic flux) for the variation that magnetic flux is changed to magnetic field.
When external magnetic flux, magnetic flux change, the rotation of the first rotary magnet 30 deviates sometimes, if only using a magnetosensitive
Element sensor portion 62 is just formed as eating the substantially same Lisa of circle with Lisa as shown in Figure 18 and eats circle, and detects
Angular error same as angular error as shown in Figure 20.Also, if using two magneto sensor sensor portions 61
And magneto sensor sensor portion 62, be just formed as eating the substantially same Lisa of circle with Lisa as shown in Figure 19 and eat circle, and
Detect angular error same as such angular error as shown in figure 21.Also, if sensed using four magneto sensors
Device portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64 are just formed as such as figure
Such Lisa shown in 22 eats circle, and detects such angular error as shown in figure 23.The angular error shown in Figure 23
Curve graph in, the angular error be in sine wave shape.
When angular error is in the shape of sine wave, it can use high-precision error detecting apparatus and (such as optically can
The optical encoders, angle sensors of detection angles error) etc., carry out angular error described in simple modifications.Hereinafter, as the angular error
An example of modification method, the method for illustrating to correct the angular error by production correction chart.But it is not limited to this
Modification method.
The modification method of the angular error is by correction chart producing device (being data processing division 90 in the present embodiment)
It is performed method (correction chart production method), the correction chart producing device is to make to the signal according to magneto sensor and examine
The correction chart that the error for the encoder 1 for surveying the angle position of the first rotary magnet 30 is modified.Also, it is not shown by utilizing
High-precision error detecting apparatus, calculate rotation and turn around first detected by the encoder 1 as becoming measured object of part
The error of the angle position of rotary magnet 30, and to the rotation calculated turn around part error carry out Fourier transformation (Fourier
Transform), constant error ingredient is measured, only to the value of the main error periodic component of the constant error ingredient calculated
Inverse Fourier transform is carried out, is made using the margin of error on each angle position as the correction chart of correction value, by made amendment
Table is stored in the storage assembly (being the memory for being set to data processing division 90 in the present embodiment) of encoder 1.As described above, sharp
Correction chart is made with main error periodic component, by making correction chart with high accuracy, the amendment of angular error can be carried out.
If making other expression, the encoder 1 of the present embodiment is to make to the signal according to magneto sensor and detect angle
The correction chart producing device for the correction chart that the error for the encoder 1 for spending position is modified.And, comprising: one circle error of rotation
Computation module calculates first rotary magnetic as detected by encoder 1 for revolving part of turning around using high-precision error detecting apparatus
The error of the angle position of iron 30；Constant error ingredient computation module, by revolving the error computation component institute that turns around to by described
The rotation of calculating turn around part error carry out Fourier transformation and calculate constant error ingredient；Correction chart make component, only to by
The value of the main error periodic component for the constant error ingredient that the constant error ingredient computation module is calculated carries out in inverse Fu
Leaf transformation, and make the correction chart that the margin of error on each angle position is set as to correction value；And correction chart saves component, it will be by
Correction chart made by the correction chart production component, is stored in the storage assembly of encoder 1.Due to being this structure, so
Correction chart is made using main error periodic component in constant error ingredient, it, can be with by making high-precision correction chart
Carry out the amendment of angular error.
Also, the encoder 1 of the present embodiment is formed to inhibit the structure of the influence of higher hamonic wave.Specifically, this
The encoder 1 of embodiment is as described above, include based on magneto sensor sensor portion 40, magneto sensor sensor portion 50 and magnetosensitive member
The testing result (detection data) of part sensor portion 60, at the data that the angle position of rotary body 2 is found out by data processing
Reason portion 90, in addition, being provided with the higher harmonic cancellation pattern for eliminating stipulated number (such as seven times) higher hamonic wave below, data
Processing unit 90 is formed to correct magneto sensor sensing using the amendment data for eliminating the higher hamonic wave more than stipulated number
The structure of the detection data in device portion 60.That is, being formed as following structure: regulation can be eliminated using higher harmonic cancellation pattern
The higher hamonic wave of (such as seven times or less) below number, and eliminated more than stipulated number using amendment data (such as more than seven
It is secondary) higher hamonic wave.
(embodiments of other structures)
Secondly, using Figure 24 and Figure 25, to the structure different from the encoder 1, (magneto sensor sensor portion 60 is matched
Set different structures) embodiment be illustrated.Figure 24 be for illustrate in encoder 1 relative to the first rotary magnet 30
Magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and magneto sensor sensor portion 64
Configuration outline enlarged drawing, be figure corresponding with Fig. 9.Also, Figure 25 is in presentation code device 1 relative to the first rotation
Magneto sensor sensor portion 61, magneto sensor sensor portion 62, magneto sensor sensor portion 63 and the magneto sensor of magnet 30 pass
The figure of the wiring in sensor portion 64 is figure corresponding with Figure 10.
In encoder 1 shown in Fig. 9 and Figure 10 etc., magneto sensor sensor portion 61 is defeated with magneto sensor sensor portion 62
Out and the output of magneto sensor sensor portion 63 and magneto sensor sensor portion 64 is 540 ° in terms of electrical angle of interval and is matched
It sets, magneto sensor sensor portion 61 and magneto sensor sensor portion 63 are 180 ° in terms of mechanical angle of intervals and configure (reference
Fig. 9).On the other hand, in encoder 1 shown in Figure 24 and Figure 25, magneto sensor sensor portion 61 and magneto sensor sensor
The output in portion 62 and the output of magneto sensor sensor portion 63 and magneto sensor sensor portion 64 are 360 ° in terms of electrical angle
Interval and configure, magneto sensor sensor portion 61 and magneto sensor sensor portion 63 are 180 ° in terms of mechanical angle and with positive electric angle
Degree is counted 180 ° of interval and is configured (referring to Figure 24).
As described above, in the encoder 1 shown in Fig. 9 and Figure 10 etc., magneto sensor sensor portion 61 and magneto sensor
Sensor portion 62 and magneto sensor sensor portion 63 and magneto sensor sensor portion 64 are with the phase of the first rotary magnet 30
On the basis of in terms of the magnetic cycle phase deviate 1/2 period and configure.Also, magneto sensor sensor portion 61 and magneto sensor sensor
Portion 63 be using the phase of the first rotary magnet 30 as benchmark phase without departing from and configure.On the other hand, shown in Figure 24 and Figure 25
Encoder 1 in, magneto sensor sensor portion 61 and magneto sensor sensor portion 62 and magneto sensor sensor portion 63 and magnetic
Quick element sensor portion 64 be using the phase of the first rotary magnet 30 as benchmark phase without departing from and configure.Also, magneto sensor
Sensor portion 61 and magneto sensor sensor portion 63 are the deviations 1/2 in terms of the magnetic cycle phase on the basis of the phase of the first rotary magnet 30
A period and configure.
Therefore, the wiring of encoder 1 shown in Figure 24 and Figure 25 is formed as wiring as shown in figure 25.Specifically,
Each other and cathode is connected to each other in magneto sensor sensor portion 61 with anode by the output line 202 of magneto sensor sensor portion 62
Output line 201.Also, each other and cathode is connected to each other in magnetosensitive with anode by the output line of magneto sensor sensor portion 64 204
The output line 203 in element sensor portion 63.Also, in addition, will be connected to 203 positive and negative anodes of output line of output line 204 on the contrary
It is connected to the output line 201 for being connected to output line 202.
Also, in encoder 1 shown in encoder 1 and Figure 24 and Figure 25 shown in Fig. 9 and Figure 10 etc., magnetosensitive
Element sensor portion 61 and magneto sensor sensor portion 63 and magneto sensor sensor portion 62 and magneto sensor sensor portion 64
It is the interval of 180 ° in terms of mechanical angle or substantially 180 ° and configures, but is not limited to this structure.For example, it is also possible to phase
For the two sides of magneto sensor sensor portion 61 and magneto sensor sensor portion 62 respectively in a circumferential direction in terms of mechanical angle
It separates substantially 120 ° of interval and configures magneto sensor sensor portion (that is, configuring each three magnetic at equal intervals or at substantially equal intervals
Quick element sensor portion).It is equally possible that configuring more than four magneto sensor sensors at equal intervals or at substantially equal intervals
Portion.However, it is preferred to be the mutual output of magneto sensor sensor portion positioned at the phase of the integral multiple in terms of electrical angle with 180 °
The position of difference.Because if being this structure, so that it may by closing the testing result group of each magneto sensor sensor portion
Come, and effectively eliminates the influence of magnetic flux variation.
It, can also be by magneto sensor sensor portion 40 or magnetic also, other than the configuration of magneto sensor sensor portion 60
Quick element sensor portion 50 is set as other structures.That is, encoder 1 shown in Fig. 4 includes being located at and the second rotary magnet 20
Magnetoresistive element, that is, magneto sensor sensor portion 40 on the opposite position in center, positioned at the position opposite with the second rotary magnet 20
On Hall element, that is, magneto sensor sensor portion 51 and be located at opposite with the second rotary magnet 20 and relative to magneto sensor
Sensor portion 51 deviates Hall element, that is, magneto sensor sensor portion on 90 ° of position in terms of mechanical angle in a circumferential direction
52, as long as but be capable of detecting when the rough absolute position of the second rotary magnet 20, so that it may by magneto sensor sensor portion
40 or magneto sensor sensor portion 50 be set as other structures.
For example, can be set to the structure that magneto sensor sensor portion 40 is omitted in the encoder 1 shown in Fig. 4, that is,
Including be located at the position opposite with the second rotary magnet 20 on Hall element, that is, magneto sensor sensor portion 51 and be located at
Second rotary magnet 20 is opposite and deviates 90 ° in terms of mechanical angle in a circumferential direction relative to magneto sensor sensor portion 51
Hall element, that is, magneto sensor sensor portion 52 structure on position.Even this structure, due to Hall element, that is, magnetosensitive
Element sensor portion 51 and magneto sensor sensor portion 52 are able to detect the direction from the pole N to the magnetic field of the pole S, so also can
Detect the rough absolute position of the second rotary magnet 20.
Also, for example, can be set to following structure: omitting magneto sensor sensor in the encoder 1 shown in Fig. 4
Portion 40 is arranged suddenly on the position that magneto sensor sensor portion 51 deviates 180 ° in terms of mechanical angle in a circumferential direction
Your element, that is, magneto sensor sensor portion, in addition, relative to magneto sensor sensor portion 52 in a circumferential direction with mechanical angle
Hall element, that is, magneto sensor sensor portion is set on the position that 180 ° of deviation of degree meter.Even this structure, suddenly due to four
You can detect the direction from the pole N to the magnetic field of the pole S at element, that is, magneto sensor sensor portion, so being also capable of detecting when second
The rough absolute position of rotary magnet 20.
It herein, is that can apply coding of the invention if to encoder 1 of the invention can be applied to summarize
Device 1 includes: the first rotary magnet 30, is the magnet for being alternately magnetized with multiple poles N and the pole S；And multiple magneto sensors pass
Sensor portion 60, including detecting the first magneto sensor 70 of the position of the first rotary magnet 30 and being configured at relative to the first magnetosensitive
The second of the position of the first rotary magnet 30 is detected on position of the output of element 70 with 90 ° of phase difference in terms of electrical angle
Magneto sensor 79.
Also, as can be seen from figures 8 and 9, as magneto sensor sensor portion 60, at least provided with as the first magneto sensor
The magneto sensor sensor portion 61 of sensor portion and magneto sensor sensor portion 62 as the second magneto sensor sensor portion, magnetic
Quick element sensor portion 61 and magneto sensor sensor portion 62 are to configure in such a way, that is, magneto sensor sensor portion
61 the first magneto sensor 70 is the output of magneto sensor 71 and the first magneto sensor 70 of magneto sensor sensor portion 62 is magnetic
The output of quick element 73 and the second magneto sensor 79 of magneto sensor sensor portion 61 are output and the magnetosensitive of magneto sensor 72
Second magneto sensor 79 in element sensor portion 62 is that the output of magneto sensor 74 is configured in terms of electrical angle the surprise with 180 °
The position of the phase difference of several times (specifically 540 °) is 30 ° or less in terms of mechanical angle.
Also, as shown in Figure 10, by the positive output terminal HE1P and positive output terminal HE2P of magneto sensor sensor portion 61
It is connect with the negative output terminal HE1N of magneto sensor sensor portion 62 and negative output terminal HE2N, by magneto sensor sensor
The negative output terminal HE1N and negative output terminal HE2N in portion 61 and the positive output terminal HE1P of magneto sensor sensor portion 62 and just
Output terminal HE2P is connected.
By being provided with magnetosensitive member on the position that can be detected in terms of electrical angle with 90 ° of phase difference including multiple
The magneto sensor sensor portion 60 of part can be formed as high-precision encoder 1.Also, it is mutual with the first magneto sensor 70
Output and the mutual output of the second magneto sensor 79 are configured at the position of the phase difference in terms of electrical angle with 180 ° of odd-multiple
30 ° of modes below i.e. in terms of mechanical angle and configure the first magneto sensor sensor portion 61 and the second magneto sensor sensor portion
62, also, by the positive output terminal HE1P of magneto sensor sensor portion 61 and positive output terminal HE2P and magneto sensor sensor
The negative output terminal HE1N and negative output terminal HE2N in portion 62 are connected, by the negative output terminal of magneto sensor sensor portion 61
HE1N and negative output terminal HE2N and the positive output terminal HE1P and positive output terminal HE2P of magneto sensor sensor portion 62 are subject to
Connection.That is, by making to be configured at the magnetosensitive member in terms of the magnetic cycle phase on the position i.e. close position in 1/2 period of phase deviation
One of output of part sensor portion 61 and magneto sensor sensor portion 62 is inverted and is equalized, and can inhibit external magnetic flux
Influence.For example, when the supply lines of the external high current inflow in encoder 1 is close, in order to sense the first magneto sensor
Device portion 61 and the second magneto sensor sensor portion 62 eliminate magnetic flux relative to generated magnetic field with same level (level), can
Inhibit the influence of external magnetic flux to be configured at 30 ° or less in terms of mechanical angle.
It is that magneto sensor sensor portion 61 is set as to the first magneto sensor sensor portion, by magnetic furthermore in the explanation
Quick element sensor portion 62 is set as the second magneto sensor sensor portion and is illustrated, but can also be by magneto sensor sensor
Portion 62 regards the first magneto sensor sensor portion as, regards magneto sensor sensor portion 61 as second magneto sensor sensor portion.Together
Sample, magneto sensor sensor portion 63 can also be regarded to the first magneto sensor sensor portion as, by magneto sensor sensor portion 64
Regard the second magneto sensor sensor portion as and regards magneto sensor sensor portion 64 as first magneto sensor sensor portion, it will
Magneto sensor sensor portion 63 regards the second magneto sensor sensor portion as.
Also, it as shown in figure 24, can apply in encoder 1 of the invention, as magneto sensor sensor portion 60, at least
It is provided with magneto sensor sensor portion 61 and magneto sensor sensor portion 62, magneto sensor sensor portion 61 and magneto sensor sensing
Device portion 62 is to configure in such a way, that is, the first magneto sensor 70 of magneto sensor sensor portion 61 is magneto sensor 71
Output and magneto sensor sensor portion 62 the first magneto sensor 70 be magneto sensor 73 output and magneto sensor sense
Second magneto sensor 79 in device portion 61 is the output of magneto sensor 72 and the second magneto sensor 79 of magneto sensor sensor portion 62
That is the output of magneto sensor 74 is configured at the position of the phase difference in terms of electrical angle with 180 ° of even-multiple (specifically 360 °)
30 ° or less are set i.e. in terms of mechanical angle.
Also, as shown in figure 25, by the positive output terminal HE1P and positive output terminal HE2P of magneto sensor sensor portion 61
It is connect with the positive output terminal HE1P of magneto sensor sensor portion 62 and positive output terminal HE2P, by magneto sensor sensor
The negative output terminal HE1N and negative output terminal HE2N in portion 61 and the negative output terminal HE1N of magneto sensor sensor portion 62 and negative
Output terminal HE2N is connected.
By being provided with magnetosensitive member on the position that can be detected in terms of electrical angle with 90 ° of phase difference including multiple
The magneto sensor sensor portion 60 of part can be formed as high-precision encoder 1.Also, it is mutual with the first magneto sensor 70
Output and the mutual output of the second magneto sensor 79 are configured at the position of the phase difference in terms of electrical angle with 180 ° of even-multiple
30 ° of modes below i.e. in terms of mechanical angle and configure magneto sensor sensor portion 61 and magneto sensor sensor portion 62, also,
Just by the positive output terminal HE1P of magneto sensor sensor portion 61 and positive output terminal HE2P and magneto sensor sensor portion 62
Output terminal HE1P and positive output terminal HE2P are connected, and by the negative output terminal HE1N of magneto sensor sensor portion 61 and are born
Output terminal HE2N is connect with the negative output terminal HE1N of magneto sensor sensor portion 62 and negative output terminal HE2N.That is,
Pass through position (position of phase deviation a cycle part in terms of the magnetic cycle phase) the i.e. close position for making to be configured at no phase deviation
On magneto sensor sensor portion 61 and magneto sensor sensor portion 62 output equalization, the shadow of external magnetic flux can be inhibited
It rings.For example, when the supply lines of the external high current inflow in encoder 1 is close, in order to make the first magneto sensor sensor portion
61 and second magneto sensor sensor portion 62 relative to generated magnetic field with same level eliminate magnetic flux, can be configured at machine
30 ° of tool goniometer or less and inhibit the influence of external magnetic flux.
Also, in it can apply encoder 1 of the invention, magneto sensor sensor portion 61 and magneto sensor sensor portion
62 be first by the first magneto sensor of magneto sensor sensor portion 61 i.e. magneto sensor 71 and magneto sensor sensor portion 62
Magneto sensor, that is, magneto sensor 73 and the second magneto sensor of magneto sensor sensor portion 61, that is, magneto sensor 72 and magnetosensitive member
Second magneto sensor of part sensor portion 62, that is, magneto sensor 74 is configured at the narrow model being calculated as within two periods with the magnetic cycle phase
In enclosing.Therefore, the influence of external magnetic flux can effectively be inhibited.
Also, as shown in Fig. 8 and Fig. 9 etc., in it can apply encoder 1 of the invention, magneto sensor sensor portion 60
Being includes the first magneto sensor 70 and the second magneto sensor 79 in a packaging body.It therefore, can be with high precision to the first magnetic
Quick element 70 and the second magneto sensor 79 are positioned, so as to be formed as especially high-precision encoder 1.
Also, as described above, first magneto sensor 70 and the second magnetosensitive are first in it can apply encoder 1 of the invention
Part 79 is Hall element, can individually detect the direction (discrimination of the pole N and the pole S) in magnetic field, therefore can inexpensively form coding
Device 1.
But as described above, the first magneto sensor 70 and the second magneto sensor 79 can also be set as magnetoresistive element.Pass through
It operates in this way, just detects the rotating excitation field of opposite magnet, so even if making magnetic because of the shake of magnetization unevenness or rotating part
Logical intensity changes, and also can steadily detect rotation position.
It also, can include as shown in Figure 4, etc., being alternately magnetized on circumferencial direction using encoder 1 of the invention
Conduct the first rotary magnet magnetosensitive of the position of first rotary magnet 30 of multiple poles N and the pole S, the first rotary magnet 30 of detection
The magneto sensor sensor portion 60 of element can rotate together with the first rotary magnet 30 and be magnetized with the pole N in a circumferential direction
And the second rotary magnet of the position of the second rotary magnet 20 of the second rotary magnet 20 and detection of the pole S is with magneto sensor
Magneto sensor sensor portion 40 and magneto sensor sensor portion 50.Therefore, it is sensed using the second rotary magnet 20 with magneto sensor
Device portion 40 and magneto sensor sensor portion 50 are not only able to the rotation amount of the first rotary magnet 30 (rotary body 2) of detection, Er Qieneng
Enough detect absolute position (angle position).
Furthermore in the encoder 1, it is included in the second rotation that each pole N and the pole S are magnetized on circumferencial direction
The structure of magnet 20, as long as but be able to detect the structure of the absolute position (angle position) of rotary body 2, the second rotary magnet
20 are just not limited to be magnetized with the structure of each pole N and the pole S in a circumferential direction.
It is the first rotary magnet 30 can be in circumference using encoder 1 of the invention also, as shown in Fig. 8 and Fig. 9 etc.
The rotary encoder of the rotary magnet of multiple poles N and the pole S is alternately magnetized on direction, as magneto sensor sensor portion 60,
In addition to the magneto sensor sensor portion 61 as the first magneto sensor sensor portion and as the second magneto sensor sensor portion
Magneto sensor sensor portion 61 other than magneto sensor sensor portion 62, also on the basis of by the rotary shaft of the first rotary magnet 30
And the opposite side of magneto sensor sensor portion 62, it is provided with the conduct including the first magneto sensor 70 and the second magneto sensor 79
The magneto sensor sensor portion 63 of three magneto sensor sensor portions and including the first magneto sensor 70 and the second magneto sensor 79
Magneto sensor sensor portion 64 as the 4th magneto sensor sensor portion.
As described above, passing through the first magneto sensor sensor at least on the basis of by the rotary shaft of the first rotary magnet 30
The opposite side of portion or the second magneto sensor sensor portion is provided with magneto sensor sensor portion (third magneto sensor sensor portion),
It, also can be using from the first magneto sensor sensor even if produce magnetic flux variation in the first rotary magnet 30
The output (testing result) of portion or the second magneto sensor sensor portion and from third magneto sensor sensor portion (in addition, Fig. 8 and
Structure shown in Fig. 9 etc. etc. according to circumstances comes from the 4th magneto sensor sensor portion) output (testing result), and inhibit
The influence that the magnetic flux changes.
Herein, so-called " opposite side " refers to 90 ° or more in terms of mechanical angle 270 ° or less.
It is that magneto sensor sensor portion 61 is set as to the first magneto sensor sensor portion, by magnetic furthermore in the explanation
Quick element sensor portion 62 is set as the second magneto sensor sensor portion, and magneto sensor sensor portion 63 is set as third magneto sensor
Magneto sensor sensor portion 64 is set as the 4th magneto sensor sensor portion and is illustrated by sensor portion, but can also be incited somebody to action
Magneto sensor sensor portion 62 regards the first magneto sensor sensor portion as, regards magneto sensor sensor portion 61 as the second magnetosensitive member
Part sensor portion regards magneto sensor sensor portion 64 as third magneto sensor sensor portion, by magneto sensor sensor portion 63
Regard the 4th magneto sensor sensor portion as.Similarly, magneto sensor sensor portion 63 can also be regarded as to the first magneto sensor biography
Sensor portion regards magneto sensor sensor portion 64 as second magneto sensor sensor portion, magneto sensor sensor portion 61 is regarded as
Third magneto sensor sensor portion regards magneto sensor sensor portion 62 as the 4th magneto sensor sensor portion and by magnetosensitive
Element sensor portion 64 regards the first magneto sensor sensor portion as, regards magneto sensor sensor portion 63 as second magneto sensor and passes
Sensor portion regards magneto sensor sensor portion 62 as third magneto sensor sensor portion, magneto sensor sensor portion 61 is regarded as
4th magneto sensor sensor portion.Further, it is also possible to which other magneto sensor sensor portions are arranged.
But magneto sensor sensor portion 60 also may include the magneto sensor biography as the first magneto sensor sensor portion
Both sensor portion 61 and the magneto sensor sensor portion 62 as the second magneto sensor sensor portion.If carrying out other expression,
It so can not also include magneto sensor sensor portion 63 and magneto sensor sensor portion 64.By being passed using the first magneto sensor
Both sensor portion and the second magneto sensor sensor portion constitute magneto sensor sensor portion 60, can inexpensively constitute encoder 1.
The present invention is not limited to the embodiment, can be realized within the scope of its spirit with various structures.
For example, the technical characteristic in embodiment corresponding with the technical characteristic in each embodiment described in summary of the invention can be appropriate
Ground is replaced or combines, with solve described problem part or all, or with reach the effect part or all.
As long as also, the technical characteristic as required content in the present specification without illustrating, so that it may appropriate
It deletes on ground.
Claims (16)
1. a kind of encoder characterized by comprising
Magnet is alternately magnetized with multiple poles N and the pole S；And
Multiple magneto sensor sensor portions, including detecting the first magneto sensor of the position of the magnet and being configured at opposite
In the position that the output of first magneto sensor has the position of 90 ° of phase difference in terms of electrical angle and detects the magnet
Second magneto sensor；And
As the magneto sensor sensor portion, sensed at least provided with the first magneto sensor sensor portion and the second magneto sensor
Device portion,
The first magneto sensor sensor portion and the second magneto sensor sensor portion are to configure in such a way,
That is, the output of first magneto sensor of the first magneto sensor sensor portion and the second magneto sensor sensor portion
First magneto sensor output and the first magneto sensor sensor portion second magneto sensor output
Output with second magneto sensor of the second magneto sensor sensor portion is configured in terms of electrical angle with 180 °
The position of the phase difference of odd-multiple be 30 ° in terms of mechanical angle hereinafter,
By the negative output of the positive output terminal of the first magneto sensor sensor portion and the second magneto sensor sensor portion
Terminal is connected, by the negative output terminal of the first magneto sensor sensor portion and the second magneto sensor sensor portion
Positive output terminal connected.
2. encoder according to claim 1, which is characterized in that
The first magneto sensor sensor portion and the second magneto sensor sensor portion are to configure in such a way,
That is, the output of first magneto sensor of the first magneto sensor sensor portion and the second magneto sensor sensor portion
First magneto sensor output and the first magneto sensor sensor portion second magneto sensor output
Output with second magneto sensor of the second magneto sensor sensor portion be configured in terms of the magnetic cycle phase two periods with
It is interior.
3. encoder according to claim 1, which is characterized in that
The magneto sensor sensor portion is that have first magneto sensor and second magnetosensitive member in a packaging body
Part.
4. encoder according to claim 1, which is characterized in that
First magneto sensor and second magneto sensor are Hall elements.
5. encoder according to claim 1, which is characterized in that
First magneto sensor and second magneto sensor are magnetoresistive elements.
6. encoder according to claim 1, which is characterized in that
The magnet is the first rotary magnet for being alternately magnetized with multiple poles N and the pole S in a circumferential direction, and
The encoder includes that can rotate together with first rotary magnet and be magnetized with the pole N and S in a circumferential direction
Second rotary magnet magneto sensor of the position of the second rotary magnet and detection second rotary magnet of pole.
7. encoder according to claim 1, which is characterized in that
The magneto sensor sensor portion is by the first magneto sensor sensor portion and the second magneto sensor sensor portion
The two is constituted.
8. encoder according to any one of claim 1 to 6, which is characterized in that
The encoder is that the magnet is the rotation for being alternately magnetized with the rotary magnet of multiple poles N and the pole S in a circumferential direction
Turn encoder,
As the magneto sensor sensor portion, in addition to the first magneto sensor sensor portion and second magneto sensor pass
The first magneto sensor sensor portion or described other than sensor portion, at least on the basis of by the rotary shaft of the rotary magnet
The opposite side of second magneto sensor sensor portion is provided with including first magneto sensor and second magneto sensor
Three magneto sensor sensor portions.
9. a kind of encoder characterized by comprising
Magnet is alternately magnetized with multiple poles N and the pole S；And
Multiple magneto sensor sensor portions, including detecting the first magneto sensor of the position of the magnet and being configured at opposite
In the position that the output of first magneto sensor has the position of 90 ° of phase difference in terms of electrical angle and detects the magnet
Second magneto sensor；And
As the magneto sensor sensor portion, sensed at least provided with the first magneto sensor sensor portion and the second magneto sensor
Device portion,
The first magneto sensor sensor portion and the second magneto sensor sensor portion are to configure in such a way,
That is, the output of first magneto sensor of the first magneto sensor sensor portion and the second magneto sensor sensor portion
First magneto sensor output and the first magneto sensor sensor portion second magneto sensor output
Output with second magneto sensor of the second magneto sensor sensor portion is configured in terms of electrical angle with 180 °
The position of the phase difference of even-multiple be 30 ° in terms of mechanical angle hereinafter,
By the positive output of the positive output terminal of the first magneto sensor sensor portion and the second magneto sensor sensor portion
Terminal is connected, by the negative output terminal of the first magneto sensor sensor portion and the second magneto sensor sensor portion
Negative output terminal connected.
10. encoder according to claim 9, which is characterized in that
The first magneto sensor sensor portion and the second magneto sensor sensor portion are to configure in such a way,
That is, the output of first magneto sensor of the first magneto sensor sensor portion and the second magneto sensor sensor portion
First magneto sensor output and the first magneto sensor sensor portion second magneto sensor output
Output with second magneto sensor of the second magneto sensor sensor portion be configured in terms of the magnetic cycle phase two periods with
It is interior.
11. encoder according to claim 9, which is characterized in that
The magneto sensor sensor portion is that have first magneto sensor and second magnetosensitive member in a packaging body
Part.
12. encoder according to claim 9, which is characterized in that
First magneto sensor and second magneto sensor are Hall elements.
13. encoder according to claim 9, which is characterized in that
First magneto sensor and second magneto sensor are magnetoresistive elements.
14. encoder according to claim 9, which is characterized in that
The magnet is the first rotary magnet for being alternately magnetized with multiple poles N and the pole S in a circumferential direction, and
The encoder includes that can rotate together with first rotary magnet and be magnetized with the pole N and S in a circumferential direction
Second rotary magnet magneto sensor of the position of the second rotary magnet and detection second rotary magnet of pole.
15. encoder according to claim 9, which is characterized in that
The magneto sensor sensor portion is by the first magneto sensor sensor portion and the second magneto sensor sensor portion
The two is constituted.
16. the encoder according to any one of claim 9 to 14, which is characterized in that
The encoder is that the magnet is the rotation for being alternately magnetized with the rotary magnet of multiple poles N and the pole S in a circumferential direction
Turn encoder,
As the magneto sensor sensor portion, in addition to the first magneto sensor sensor portion and second magneto sensor pass
The first magneto sensor sensor portion or described other than sensor portion, at least on the basis of by the rotary shaft of the rotary magnet
The opposite side of second magneto sensor sensor portion is provided with including first magneto sensor and second magneto sensor
Three magneto sensor sensor portions.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018080618A JP7114315B2 (en) | 2018-04-19 | 2018-04-19 | encoder |
| JP2018-080618 | 2018-04-19 |
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| CN110388943A true CN110388943A (en) | 2019-10-29 |
| CN110388943B CN110388943B (en) | 2022-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910307807.2A Active CN110388943B (en) | 2018-04-19 | 2019-04-17 | Encoder for encoding a video signal |
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| Country | Link |
|---|---|
| JP (1) | JP7114315B2 (en) |
| KR (1) | KR20190122141A (en) |
| CN (1) | CN110388943B (en) |
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| CN110932514A (en) * | 2019-12-30 | 2020-03-27 | 深圳市优必选科技股份有限公司 | Brushless motor and detection method for motor rotor position |
| CN116892960A (en) * | 2023-09-06 | 2023-10-17 | 西安甘鑫科技股份有限公司 | Angle rotary encoder suitable for ultralow temperature environment |
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- 2019-04-17 CN CN201910307807.2A patent/CN110388943B/en active Active
- 2019-04-18 TW TW108113594A patent/TWI688750B/en active
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110932514A (en) * | 2019-12-30 | 2020-03-27 | 深圳市优必选科技股份有限公司 | Brushless motor and detection method for motor rotor position |
| CN116892960A (en) * | 2023-09-06 | 2023-10-17 | 西安甘鑫科技股份有限公司 | Angle rotary encoder suitable for ultralow temperature environment |
| CN116892960B (en) * | 2023-09-06 | 2023-12-08 | 西安甘鑫科技股份有限公司 | Angle rotary encoder suitable for ultralow temperature environment |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201944031A (en) | 2019-11-16 |
| TWI688750B (en) | 2020-03-21 |
| JP7114315B2 (en) | 2022-08-08 |
| CN110388943B (en) | 2022-04-01 |
| KR20190122141A (en) | 2019-10-29 |
| JP2019190872A (en) | 2019-10-31 |
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