CN110470323A - A kind of eddy current type incremental encoder and its working method - Google Patents
A kind of eddy current type incremental encoder and its working method Download PDFInfo
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- CN110470323A CN110470323A CN201910721175.4A CN201910721175A CN110470323A CN 110470323 A CN110470323 A CN 110470323A CN 201910721175 A CN201910721175 A CN 201910721175A CN 110470323 A CN110470323 A CN 110470323A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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Abstract
The present invention provides a kind of eddy current type incremental encoders, and the reading dial of coding disk and annular including annular, opposite arranged concentric is parallel to each other, are equipped with spacing.The multiple reflective conductives of coding disk surface layout are distributed on an annular code channel.There are four planar coils for reading dial design, are distributed on a code channel or two concentric annular code channels.Four planar coils are divided into two groups, and the odd-multiple of 1/2 measurement wavelength is divided between two planar coils in every group, the odd-multiple of 1/4 measurement wavelength is divided between two groups of planar coils.A kind of working method of above-mentioned eddy current type incremental encoder is provided simultaneously.Sensing and subdivision are carried out by two groups of differential waves, realizes high-resolution pulse output.Eddy current type incremental encoder not only may be implemented increment angle displacement measurement, and have at low cost, anti-vibration, temperature range it is wide, to magnetic target and the insensitive characteristic of changes of magnetic field, can be applied in Various Complex and strongly disturbing environment.
Description
Technical field
The present invention relates to non-contact code device technical fields.In particular it relates to a kind of eddy current type incremental encoder and its
Working method.
Background technique
Encoder is a kind of sensing that Angle Position or angular displacement are converted into electric signal according to certain rules and exported
Device, using extensively, being a kind of common angle and angular position pick up in various swing mechanisms.
According to the difference of playback mode, encoder can be divided into contact and two kinds contactless.Contact encoder by
It is worn in existing, working life is short, unreliable, and it is superseded, and replaced by non-contact code device.Non-contact code
Device has speed height, service life length, reliable operation, thus becomes the first choice in current encoder field.
According to the difference of coding mode, encoder can be divided into two class of increment type and absolute type: incremental encoder is will to revolve
The angular displacement turned is converted into periodic electric impulse signal output, and the size of angular displacement is indicated using the number of pulse.Absolute type
Encoder be each Angle Position (i.e. angle) is converted into the corresponding number of only one, therefore its indicating value only and measurement
When Angle Position it is related, and it is unrelated with the process before measurement.
According to the difference of working principle, non-contact code device mainly has optical-electricity encoder and two kinds of magnetic coder at present
Form.Optical-electricity encoder precision is high, speed is fast, is the mainstream in encoder field.But photoelectric encoder is to environmental requirement
Height, shock resistance is poor, temperature range is relatively narrow.Magnetism encoder is a kind of novel angle or angle displacement measurement sensor,
Principle is to be measured using magnetic resistance or Hall element to the angle or value of angular displacement of the magnetic element of rotation, it have at
This is low, anti-vibration, anticorrosive, antipollution, anti-interference and wide temperature characteristic, can be applied to traditional photoelectric encoder cannot fit
The industrial circle answered.
But magnetic coder is worked based on magnetic induction principle, magnetic signal is measurement medium.Therefore, magnetic coder pair
The magnetic fluctuation of magnetic bodies or environment that surrounding occurs is very sensitive, and performance suppression ratio is more serious, therefore is actually using
In be restricted.
Summary of the invention
The present invention proposes one for defect problem sensitive to magnetic bodies and magnetic fluctuation existing for existing magnetic coder
Eddy current type incremental encoder and its working method of the kind based on lateral variable area eddy current effect, using coil in reflective conductive
The current vortex of generation realizes the measurement of rotational angle displacement, and not only the cost with magnetic coder is low, anti-vibration, anticorrosive, anti-
Pollution, anti-interference and wide temperature characteristic, and with insensitive to magnetic bodies and changes of magnetic field excellent from working principle
Good characteristic works more stable and reliable under magnetic field environment, thus has wider practicability.
The present invention is achieved by the following technical solutions:
According to an aspect of the invention, there is provided a kind of eddy current type incremental encoder, including relatively concentric and parallel cloth
The annular coding disk and an annular reading dial set are equipped with spacing between the coding disk and reading dial；Wherein:
Multiple reflective conductives are disposed on the surface of the coding disk, multiple reflective conductives are of similar shape and ruler
It is very little, and be circumferentially uniformly distributed, an annular code channel a is formed, two neighboring reflective conductive is corresponding at the interval of circumferencial direction
Segment angle is referred to as the measurement wavelength of the code channel；
The surface of the reading dial is equipped with annular code channel b compatible with the annular code channel a on coding disk, and annular code channel
B is identical as the measurement wavelength of annular code channel a；There are four planar coils, four planar coils to divide equally for arrangement on annular code channel b
It is the odd-multiple that two adjacent planar turns in two groups, same group are divided into 1/2 measurement wavelength between circumferencial direction, two groups flat
The odd-multiple of 1/4 measurement wavelength is divided between the circumferencial direction of planar coil；
The annular code channel b is using any one following structure:
Single code channel structure, correspondingly, two groups of planar coils are distributed on the single-code channel, form single-code channel reading dial；
Dual track structure, correspondingly, two groups of planar coils are arranged on dual track, form dual track reading dial.
Preferably, measuring circuit is additionally provided on the reading dial, the measuring circuit forms integrated with planar coil
Component provides pumping signal for all planar coils, while obtaining the running parameter of planar coil and exporting corresponding electric signal,
The electric signal is for obtaining tested Angle Position.
Preferably, the measuring circuit uses driver to provide pumping signal and directly output simulation letter for planar coil
Number；The quantity of the driver and the quantity of planar coil are identical, wherein each planar coil respectively corresponds a driver.
Preferably, interface socket is additionally provided on the reading dial, the interface socket connects for external power supply power supply
Enter the output with measurement result.
Preferably, the reflective conductive is metal material, is prepared using PCB production method or using machining side
Method is prepared.
Preferably, the planar coil is prepared using multi-layer PCB production method.
Preferably, the spacing between the coding disk and reading dial is 0.5mm.
Preferably, the outer diameter of the coding disk and reading dial is identical as internal diameter difference.
According to another aspect of the present invention, a kind of work of eddy current type incremental encoder described in any of the above embodiments is provided
Make method, includes the following steps:
S1, differential processing: carrying out differential processing to the analog signal exported after two planar coils excitation in each group,
Obtain two-way differential wave；
Shape correction: S2 carries out Shape correction to the two-way differential wave obtained after differential processing, is converted into square wave；
S3, sensing processing: carrying out sensing processing for the differential wave after Shape correction, obtain direction of rotation, thus
To two-way positive pulse and two-way negative pulse, positive pulse is exported when rotating clockwise, and negative pulse is exported when rotating counterclockwise；
S4, Subdividing Processing: the positive and negative pulse signal of the two-way obtained after sensing is handled is finely divided processing.
Preferably, the working method, further includes following steps:
Pulse output: the positive and negative pulse obtained after Subdividing Processing is output to host computer by interface socket by S5.
Compared with prior art, the invention has the following beneficial effects:
Eddy current type incremental encoder provided by the invention and its working method, not only may be implemented increment angle displacement measurement,
And have at low cost, anti-vibration, temperature range it is wide, to magnetic target and the insensitive characteristic of changes of magnetic field, can be applied to
Among Various Complex and strongly disturbing environment.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is eddy current type incremental encoder structure composition schematic diagram provided in the embodiment of the present invention；
Fig. 2 is coding disk structure composition schematic diagram provided in the embodiment of the present invention；
Fig. 3 is single-code channel reading dial structure composition schematic diagram provided in the embodiment of the present invention；
Fig. 4 is dual track reading dial structure composition schematic diagram provided in the embodiment of the present invention；
Fig. 5 is single-code channel reading dial provided in the embodiment of the present invention and coding disk correspondence diagram；
Fig. 6 is dual track reading dial provided in the embodiment of the present invention and coding disk correspondence diagram；
Fig. 7 is eddy current type incremental encoder working method overall procedure schematic diagram of the invention.
In figure, 1 is coding disk, and 2 be reading dial, and 3 be annular code channel, and 4 be reflective conductive, and 5 be planar coil, and 6 be measurement
Circuit, 7 be interface socket.
Specific embodiment
Elaborate below to the embodiment of the present invention: the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given.It should be pointed out that those skilled in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.
The embodiment of the invention provides a kind of eddy current type incremental encoder, the eddy current type incremental encoder includes a ring
The coding disk of shape and an annular reading dial, in which:
The outer diameter of the coding disk and reading dial is identical as internal diameter, opposite arranged concentric, parallel to each other, at a distance of one smaller
Distance；
The multiple reflective conductives of coding disk surface layout, each reflective conductive is of similar shape and size, along circle
All annulars are uniformly distributed, and form an annular code channel a, and the corresponding segment angle in interval of circumferencial direction can be referred to as the code channel
Measure wavelength；
The reading dial is annular, and there are four planar coils for design, is divided into two groups, same group of two planar coil intervals
For the odd-multiple of 1/2 measurement wavelength；Two groups of planar coils can be both distributed on the same annular code channel b, form single-code channel
Reading dial；Two groups of planar coils can also be distributed on two concentric annular code channel b, form dual track reading dial；Two groups
Planar coil it is circumferentially-spaced be 1/4 measurement wavelength odd-multiple.
Further, the reflective conductive is metal material, can both be made of PCB technology, can also be using machinery
Processing technology production.
Further, the shape of the reflective conductive can be any regular shape and size.
Further, the planar coil is made of PCB technology.
Further, the planar coil can be any regular shape and size.
Further, it is additionally provided with measuring circuit on the reading dial, forms integral component with planar coil, is all
Planar coil provides pumping signal, while obtaining the running parameter of planar coil and exporting corresponding electric signal, by processing with
Angular displacement to be measured is calculated.
Further, the measuring circuit uses driver to provide pumping signal, and directly output simulation for planar coil
Signal；The quantity of driver and the quantity of planar coil are identical, and the corresponding driver of each planar coil guarantees treatment process
High speed.
Further, it is additionally provided with interface socket on the reading dial, access and measurement knot for external power supply power supply
The output of fruit.
The embodiment of the present invention provides a kind of working method of above-mentioned eddy current type incremental encoder, course of work packet simultaneously
Include differential, shaping, sensing, subdivision, the several processes of communication.
Detailed process is as follows:
S1, differential processing:
The analog signal exported after two planar coils excitation adjacent in each group in four planar coils is carried out
Differential processing (directly subtracting each other), obtains two-way differential wave, can effectively inhibit the interference in spatial point magnetic field, improve signal matter
Amount improves measurement accuracy and anti-interference ability.
S2, Shape correction:
Shape correction is carried out to the two-way differential wave obtained after differential processing, is converted into square wave, improves waveform quality.
S3, sensing processing:
Differential wave after Shape correction is subjected to sensing processing, direction of rotation is obtained, to obtain two positive and negative arteries and veins
Punching exports negative pulse when exporting positive pulse when rotating clockwise, rotating counterclockwise.
S4, Subdividing Processing:
The two-way positive negative pulse stuffing signal obtained after sensing is handled is finely divided processing, further improves resolving power.
S5, pulse output:
The positive negative pulse stuffing obtained after Subdividing Processing is output to host computer by interface.
It elaborates with reference to the accompanying drawing to the above embodiment of the present invention.
The eddy current type incremental encoder that the above embodiment of the present invention provides, including an annular coding disk 1 and a ring
The reading dial 2 of shape, as shown in Figure 1, in which:
The outer diameter of the coding disk 1 and reading dial 2 is identical as internal diameter, such as outer diameter 60mm, internal diameter 25mm；Coding disk and
Reading dial is parallel to each other with respect to arranged concentric；Coding disk 1 and reading dial 2 are at a distance of a lesser distance.It is with 0.5mm or so
It is good；
The coding disk 1 is as shown in Fig. 2, the multiple reflective conductives 4 of surface layout, each reflective conductive shape having the same
Shape and size, circumferentially annular is uniformly distributed, and forms an annular code channel 3, the circle spacing, corresponding segment angle can be referred to as
Measure wavelength；For example, reflective conductive quantity is respectively 36, then measuring wavelength is respectively λ=10 °；
The reading dial 2 be annular, as shown in Figure 3 and Figure 4, design there are four planar coil 5-1p, 5-1n, 5-2p,
5-2n is divided into two groups of 5-1p and 5-1n, 5-2p and 5-2n；Two groups of planar coils 5-1p and 5-1n, 5-2p and 5-2n can be distributed
On the same annular code channel b, formed single-code channel reading dial (as shown in Figure 3)；Two groups of planar coil 5-1p and 5-1n, 5-2p
It can also be distributed on two concentric annular code channel b, be formed dual track reading dial (as shown in Figure 4) with 5-2n；Two groups flat
Planar coil 5-1p and 5-1n and 5-2p and 5-2n it is circumferentially-spaced be 1/4 measurement wavelength X odd-multiple, such as λ/4,3 λ/4,5 λ/
4 etc.；Every group of two adjacent planar turns 5-1p and the circumferentially-spaced of 5-1n, 5-2p and 5-2n are the odd number of 1/2 measurement wavelength
Times, such as λ/2,3 λ/2,5 λ/2 etc..
In the above-described embodiments, the reflective conductive 4 is metal material, can both be made, and utilized of PCB technology
PCB's covers copper as reflective conductive 4；It can also be made of mechanical processing technique, pass through various conventional machines using metal material
Tool manufacturing process forms the different shape of height.
In the above-described embodiments, the shape of the reflective conductive 4 can be any regular shape, such as rectangle, sector, water chestnut
Shape, trapezoidal etc., pay the utmost attention to fan shape；The reflective conductive 4 can be arbitrary dimension, and paying the utmost attention to its width is the code channel
The 1/2~3/5 of measurement wavelength is preferred.
In the above-described embodiments, the planar coil 5 is made of multi-layer PCB technique.
In the above-described embodiments, described planar coil 5-1p, 5-1n, 5-2p, 5-2n can be any regular shape, such as
Rectangle, sector, diamond shape, trapezoidal etc.；The size of four planar coils 5-1p, 5-1n, 5-2p, 5-2n on each code channel can be with volumes
The size of reflective conductive 4 is identical on code-disc 1, can also be different, and paying the utmost attention to its width is that the code channel measures 1/2 or so of wavelength
It is preferred.
In the above-described embodiments, it is additionally provided with measuring circuit 6 on the reading dial 2, for mentioning for all planar coils 5
For pumping signal, while the running parameter of planar coil 5, the corresponding electric signal of output are obtained, as shown in Figure 5 and Figure 6.
In the above-described embodiments, the measuring circuit 6 uses driver to provide pumping signal for eight planar coils 5,
And directly export analog signal；The quantity of driver is identical as the quantity of planar coil 5, and each planar coil 5 corresponding one is swashed
Device is encouraged, guarantees the high speed for the treatment of process.
In the above-described embodiments, it is additionally provided with interface socket 7 on the reading dial 1, for connecing for external power supply power supply
Enter the output with measurement result.
The eddy current type incremental encoder that the above embodiment of the present invention provides, working method, including differential processing, calculating are just
It cuts, calculates phase, calculate phase difference, calculate several processes such as angle, communication output, as shown in Figure 7.
Detailed process is as follows:
(1) differential processing:
For the analog signal W1p exported after the two neighboring planar coil excitation in each group in four planar coils
Differential processing is carried out with W1n, W2p and W2n, two-way differential wave Δ W1 and Δ W2 is obtained, can effectively inhibit spatial point magnetic field
Interference, improve signal quality, improve measurement accuracy and anti-interference ability, it may be assumed that
Δ W1=W1p-W1n, Δ W2=W2p-W2n.
(2) Shape correction:
Shape correction is carried out to the two-way differential wave Δ W1 and Δ W2 that obtain after differential processing, be converted into square wave S1 and
S2, to improve waveform quality.
(3) sensing is handled:
Differential wave S1 and S2 after Shape correction is subjected to sensing processing, direction of rotation is obtained, to obtain two
Positive negative pulse stuffing P+ and P- export negative pulse P- when exporting positive pulse P+ when rotating clockwise, rotating counterclockwise, and vice versa.
(4) Subdividing Processing:
The two-way positive negative pulse stuffing signal P+ and P- obtained after sensing is handled is finely divided processing, further improves resolution
Power.
(5) pulse exports:
The positive negative pulse stuffing Pn+ obtained after Subdividing Processing and Pn- are output to host computer by interface.
The eddy current type incremental encoder and its working method that the above embodiment of the present invention provides, including an annular coding
Disk and an annular reading dial, opposite arranged concentric is parallel to each other, at a distance of a lesser distance.Coding disk surface layout
Multiple reflective conductives are distributed on an annular code channel.Reading dial design there are four planar coil, be distributed in a code channel or
On two concentric annular code channels of person.Four planar coils are divided into two groups, are divided into 1/2 times between two planar coils in every group
The odd-multiple of wavelength is measured, the odd-multiple of 1/4 measurement wavelength is divided between two groups of planar coils.Planar coil uses multi-layer PCB
Thus technique production can form integral component with measuring circuit.Sensing and subdivision are carried out by two groups of differential waves, is realized high
Resolution pulse output.Increment angle displacement measurement not only may be implemented in eddy current type incremental encoder, but also has at low cost, antidetonation
It is dynamic, temperature range is wide, to magnetic target and the insensitive characteristic of changes of magnetic field, can be applied to Various Complex and strongly disturbing ring
In border.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of eddy current type incremental encoder, it is characterised in that: including relatively concentric and parallel arrangement an annular coding
Disk and an annular reading dial are equipped with spacing between the coding disk and reading dial；Wherein:
Multiple reflective conductives are disposed on the surface of the coding disk, multiple reflective conductives are of similar shape and size, and
It is circumferentially uniformly distributed, forms an annular code channel a, two neighboring reflective conductive is in the corresponding segment angle in the interval of circumferencial direction
The referred to as measurement wavelength of the code channel；
The surface of the reading dial is equipped with annular code channel b compatible with the annular code channel a on coding disk, and annular code channel b and
The measurement wavelength of annular code channel a is identical；There are four planar coils, four planar coils to be divided into for arrangement on annular code channel b
Two adjacent planar turns in two groups, same group are divided into the odd-multiple of 1/2 measurement wavelength, two groups of planes between circumferencial direction
The odd-multiple of 1/4 measurement wavelength is divided between the circumferencial direction of coil；
The annular code channel b is using any one following structure:
Single code channel structure, correspondingly, two groups of planar coils are distributed on the single-code channel, form single-code channel reading dial；
Dual track structure, correspondingly, two groups of planar coils are arranged on dual track, form dual track reading dial.
2. eddy current type incremental encoder according to claim 1, it is characterised in that: be additionally provided with measurement on the reading dial
Circuit, the measuring circuit and planar coil form integral component, provide pumping signal for all planar coils, obtain simultaneously
The running parameter of planar coil simultaneously exports corresponding electric signal, and the electric signal is for obtaining tested Angle Position.
3. eddy current type incremental encoder according to claim 2, it is characterised in that: the measuring circuit use driver for
Planar coil provides pumping signal and directly exports analog signal；The quantity of the driver and the quantity of planar coil are identical,
Wherein each planar coil respectively corresponds a driver.
4. eddy current type incremental encoder according to claim 1, it is characterised in that: be additionally provided with interface on the reading dial
Socket, the interface socket is for the access of external power supply power supply and the output of measurement result.
5. eddy current type incremental encoder according to any one of claim 1 to 4, it is characterised in that: the reflective conductive
For metal material, it is prepared using PCB production method or is prepared using machining process.
6. eddy current type incremental encoder according to any one of claim 1 to 4, it is characterised in that: the planar coil
It is prepared using multi-layer PCB production method.
7. eddy current type incremental encoder according to any one of claim 1 to 4, it is characterised in that: the coding disk and
Spacing between reading dial is 0.5mm.
8. eddy current type incremental encoder according to any one of claim 1 to 4, it is characterised in that: the coding disk and
The outer diameter of reading dial is identical as internal diameter difference.
9. a kind of working method of eddy current type incremental encoder of any of claims 1-8, it is characterised in that: including
Following steps:
Differential processing: S1 carries out differential processing to the analog signal exported after two planar coils excitation in each group, obtains
Two-way differential wave；
Shape correction: S2 carries out Shape correction to the two-way differential wave obtained after differential processing, is converted into square wave；
Sensing processing: differential wave after Shape correction is carried out sensing processing, direction of rotation is obtained, to obtain two by S3
Road positive pulse and two-way negative pulse, positive pulse is exported when rotating clockwise, negative pulse is exported when rotating counterclockwise；
S4, Subdividing Processing: the positive and negative pulse signal of the two-way obtained after sensing is handled is finely divided processing.
10. the working method of eddy current type incremental encoder according to claim 9, it is characterised in that: further include walking as follows
It is rapid:
Pulse output: the positive and negative pulse obtained after Subdividing Processing is output to host computer by interface socket by S5.
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| CN112097804A (en) * | 2020-09-17 | 2020-12-18 | 连云港杰瑞电子有限公司 | Eddy current induction type absolute value rotary encoder |
| CN113028962A (en) * | 2021-03-09 | 2021-06-25 | 浙江禾川科技股份有限公司 | Encoder |
| CN113607197A (en) * | 2021-07-19 | 2021-11-05 | 西安微普光电技术有限公司 | Laser frame beam guidance coding disc and encoder |
| CN115355809A (en) * | 2022-10-20 | 2022-11-18 | 宿迁天海数字测控技术有限公司 | Electromagnetic induction displacement sensor device for measuring instrument |
| CN115500900A (en) * | 2022-09-13 | 2022-12-23 | 以诺康医疗科技（苏州）有限公司 | Cutting part and transition part for ultrasonic scalpel and ultrasonic scalpel |
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