CN111060142A - Mechanical multi-turn absolute value encoder and turn decoding method - Google Patents
Mechanical multi-turn absolute value encoder and turn decoding method Download PDFInfo
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- CN111060142A CN111060142A CN202010037676.3A CN202010037676A CN111060142A CN 111060142 A CN111060142 A CN 111060142A CN 202010037676 A CN202010037676 A CN 202010037676A CN 111060142 A CN111060142 A CN 111060142A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—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
Abstract
The embodiment of the invention discloses a mechanical multi-turn absolute value encoder and a turn number decoding method, which comprise a mounting seat, an input shaft, a driving gear, at least one driven gear, a decoding IC and at least two single-turn absolute value encoders, wherein the driving gear and the driven gear are rotationally arranged on the mounting seat, one end of the input shaft is connected with the driving gear, the driving gear is meshed with the at least one driven gear, the number of teeth of each driven gear is different prime numbers, the single-turn absolute value encoders are correspondingly arranged on the mounting seat, and the decoding IC is respectively and electrically connected with each single-turn absolute value encoder. The multi-turn absolute value encoder can avoid the problem that the electronic multi-turn absolute value encoder loses zero point under the condition of battery power failure, can also solve the problems of difficult processing and manufacturing and large volume caused by complex structure of the traditional mechanical multi-turn absolute value encoder, is far beyond the traditional mechanical multi-turn absolute value encoder on the multi-turn range, and can easily expand the multi-turn range according to requirements.
Description
Technical Field
The embodiment of the invention relates to the field of encoders, in particular to a mechanical multi-turn absolute value encoder and a turn decoding method.
Background
Encoders are widely used in the field of automated control for speed and position detection. The multi-turn absolute value encoder has the advantages of unique position encoding and high precision, zero point searching is not needed during servo control, and the encoder is widely applied to position detection of the servo motor of the industrial robot. The common multi-turn absolute value encoder is an electronic multi-turn absolute value encoder with a battery, has small volume and relatively low cost, but has the defect of zero point loss under the condition of battery power failure; another reliable scheme is a mechanical multi-turn absolute value encoder in the form of a reduction gear, which does not depend on a battery and therefore has no problem of zero point loss, but the multi-stage reduction gear has a complex structure, a large volume and difficult production and manufacture, and the technology is monopolized by germany and japan for a long time.
Disclosure of Invention
Therefore, the embodiment of the invention provides a mechanical multi-turn absolute value encoder and a turn decoding method, so as to solve the defects that the zero point is lost under the condition of battery power failure in the conventional encoder, and the problems of complex structure and large volume.
In order to achieve the above object, an embodiment of the present invention provides a mechanical multi-turn absolute value encoder, which includes a mounting base, an input shaft, a driving gear, at least one driven gear, a decoding IC, and at least two single-turn absolute value encoders, the driving gear and the driven gear are rotationally arranged on the mounting seat, one end of the input shaft is connected with the driving gear, the driving gear is meshed with at least one driven gear, the number of teeth of each driven gear is different prime numbers, the single-circle absolute value encoder is correspondingly arranged on the mounting seat and is used for acquiring the current single-circle position of the corresponding gear, the decoding IC is electrically connected with each single-turn absolute value encoder respectively, and is used for collecting the reading of each single-turn absolute value encoder to decode multiple turns.
Further, the mount pad includes first mounting panel and second mounting panel, first mounting panel is parallel and the interval setting with the second mounting panel to connect through many connecting rods.
Further, the driving gear with driven gear rotationally sets up in one side that first mounting panel is close to the second mounting panel, driven gear set up in the periphery of driving gear, and all with the driving gear meshing.
Further, the single-turn absolute value encoder is a photoelectric single-turn absolute value encoder, a rotary transformer or a magnetic encoder.
Furthermore, the mechanical multi-turn absolute value encoder further comprises a primary speed reducer, and a power output shaft of the primary speed reducer is connected with the other end of the input shaft.
Correspondingly, the invention also provides a circle number decoding method, which comprises the following steps:
step a1, extracting a mathematical equation set according to the structural model:
A1×Z1+K1＝m
A2×Z2+K2＝m
A3×Z3+K3＝m
..........
..........
An×Zn+Kn＝m
wherein n is a positive integer representing the total number of gears, and m is an integer representing the total number of teeth rotated by each gear; A1-An is An integer representing the number of turns of the gear with the number of 1-n; Z1-Zn is different prime numbers representing the tooth number of No. 1-n gears; K1-Kn represents the number of teeth for the current position of gear Nos. 1-n, with the number being defined as starting from 0 and having a maximum value that is 1 less than the number of teeth.
Step b, calculating the number of turns A1-An of each gear and the number of turns of the driving side of the encoder;
when n is known, K1-Kn is known and Z1-Zn is known after the structure and the position are determined, solving m and A1-An. Because Z1-Zn is prime number, the least common multiple Q is Z1Z 2Z 3 … Zn, when m is Q, the above equation has unique solution according to Chinese remainder theorem. Therefore, when the current tooth number K1-Kn of each gear is known, a unique solution of m can be found within the range of m < Q, and the number of turns A1-An of each gear and the number of turns of the driving side of the encoder are known.
The embodiment of the invention has the following advantages: the mechanical multi-turn absolute value encoder provided by the embodiment of the invention can avoid the problem that the electronic multi-turn absolute value encoder loses zero point under the condition of battery power failure, can also solve the problems of difficult processing and manufacturing and large volume caused by complex structure of the traditional mechanical multi-turn absolute value encoder, is far superior to the traditional mechanical multi-turn absolute value encoder in the multi-turn range, and can easily expand the multi-turn range as required.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of a mechanical multi-turn absolute value encoder according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the position relationship between a driving gear and three other gears according to an embodiment of the present invention;
FIG. 3 is a schematic view of the position relationship between a driving gear and four other gears according to another embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a position relationship between a driving gear and four other gears sequentially engaged according to another embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the mechanical multi-turn absolute value encoder comprises a mounting seat, an input shaft 9, a driving gear, at least one driven gear, a decoding IC11 and at least two single-turn absolute value encoders, wherein the mounting seat comprises a first mounting plate 6 and a second mounting plate 10, and the first mounting plate 6 and the second mounting plate 10 are parallel and spaced and connected through a plurality of connecting rods. The driving gear and the driven gear are rotatably arranged on one side, close to the second mounting plate 10, of the first mounting plate 6, the driven gear is arranged on the periphery of the driving gear and is meshed with the driving gear, the number of the driven gears is three in the embodiment and is sequentially marked as a second gear 2, a third gear 3 and a fourth gear 4, the driving gear is marked as a first gear 1 for convenience of subsequent calculation, one end of the input shaft 9 is connected with the driving gear, the input shaft 9 and the driving gear rotate synchronously, the other end of the input shaft 9 is connected with the rotating mechanism, and the driving gear is driven by the rotating mechanism to rotate. In this embodiment, the numbers of teeth of the driving gear and the driven gear are different prime numbers, specifically, the number of teeth of the first gear 1 is 13, the number of teeth of the second gear 2 is 23, the number of teeth of the third gear 3 is 29, and the number of teeth of the fourth gear 4 is 31. Of course, the number of teeth is not limited to this, and there may be more or less prime teeth.
Four single-turn absolute value encoders are correspondingly arranged on the mounting seat, the single-turn absolute value encoders are used for acquiring the current single-turn positions of the corresponding gears, the single-turn absolute value encoders are magnetic encoders in the embodiment, the magnetic encoders are composed of magnets 5 and code reading circuits (not shown), the number of the magnetic encoders is the same as that of the gears, the magnets 5 of the four magnetic encoders are correspondingly arranged on one side of each gear, which is deviated from the first mounting plate 6, and the magnets 5 are coaxially arranged with the corresponding gears and synchronously rotate with the gears. The code reading circuits of the four magnetic encoders are arranged on one side, close to the first mounting plate 6, of the second mounting plate 10, each code reading circuit corresponds to each magnet one by one and is tightly attached to the magnet 5, one magnetic encoder IC is arranged on the position, opposite to the magnet 5, of each code reading circuit, and a certain gap is reserved to enable the reading to be stable. Of course, the type of the single-turn absolute value encoder is not limited to this, and may be an optical-electric single-turn absolute value encoder or another encoder having the same function, such as a resolver. The decoding IC11 is disposed on a side of the second mounting plate 10 away from the first mounting plate 6, the decoding IC11 is electrically connected to each single-turn absolute value encoder, and the decoding IC11 is configured to collect a reading of each single-turn absolute value encoder to perform multi-turn decoding. The mechanical multi-turn absolute value encoder of this embodiment, avoided the problem that electronic multi-turn absolute value encoder loses zero point under the battery power failure condition on the one hand, on the other hand has used the one-level transmission of four gears to replace traditional multistage reduction gear scheme, and just can only use two gears at least, has effectively simplified the structure of mechanical multi-turn absolute value encoder, has avoided traditional mechanical multi-turn absolute value encoder because the structure is complicated and the manufacturing difficulty that brings to and the great problem of volume. In addition, the multi-turn range is far beyond that of a traditional mechanical multi-turn absolute value encoder, and can be easily expanded as required.
The invention also provides a circle number decoding method, as shown in fig. 2, the number of teeth of each gear is different prime numbers, the combination result is that after the driving gear rotates 20677 circles (23 × 29 × 31 is 20677), the 4 gear positions in fig. 2 return to the positions which are initially overlapped, in the range of 0-20677 circles, the numerical values of the absolute value encoder of a single circle read at each meshed position of each circle can obtain different combinations, and the current circle number can be calculated according to the combination value. The following describes the solution process and principles in detail:
the mathematical equation set can be extracted according to the structural model:
A1×Z1+K1＝m
A2×Z2+K2＝m
A3×Z3+K3＝m
..........
..........
An×Zn+Kn＝m
wherein n is a positive integer representing the total number of gears, and m is an integer representing the total number of teeth rotated by each gear; A1-An is An integer representing the number of turns of the gear with the number of 1-n; Z1-Zn is different prime numbers representing the tooth number of No. 1-n gears; K1-Kn represents the number of teeth for the current position of gear Nos. 1-n, with the number being defined as starting from 0 and having a maximum value that is 1 less than the number of teeth. When n is known, K1-Kn is known and Z1-Zn is known after the structure and the position are determined, solving m and A1-An.
Because Z1-Zn is prime number, the least common multiple Q is Z1Z 2Z 3 … Zn, when m is Q, the above equation has unique solution according to Chinese remainder theorem. Therefore, when the current tooth number K1-Kn of each gear is known, a unique solution of m can be found within the range of m < Q, and the number of turns A1-An of each gear and the number of turns of the driving side of the encoder are known.
The number of turns of the encoder is solved according to the Chinese remainder theorem by using a specific example. Setting the number of teeth of each gear to be 0, and when the second gear 2 is located at the 18 th tooth position, the first gear 1 is located at the 7 th tooth position, the third gear 3 is located at the 3 rd tooth position, and the fourth gear 4 is located at the 27 th tooth position, solving the current number of turns:
equation 1: a1 × 23+18 ═ m
Equation 2: a2 + 13+7 ═ m
Equation 3: a 3+ 29+3 ═ m
Equation 4: a4 × 31+27 ═ m
Step 1: calculating the least common multiple Q23 13 29 31 268801
Step 2: calculating the operators Q1-Q4 of equations 1-4
Taking the solution of the operator Q1 as an example, the procedure is as follows
Operator Q1 of equation 1-93496
Operator Q2 of equation 2-41354
The operator Q3 of equation 3 is 194649
Operator Q4 of equation 4-208104
And step 3: solving the total number of teeth rotated by the gear 1:
m＝(18*93496+7*41354+3*194649+208104*27)％268801＝111131
the encoder thus rotates 111131/13-8548.538 turns.
The invention also provides a method for solving the error code problem existing in the structural scheme, which comprises the following steps: since the above coding method belongs to discontinuous coding, when one single-turn coded value jumps at a critical position, the final output turns will jump greatly. For example: the calculated number of revolutions will jump between 8548.538 and 3879.538 when the second gear 2 is in the 18 th tooth position, the first gear 1 is in the 7 th tooth position, the third gear 3 is in the 3 rd tooth position, and the fourth gear 4 is in the 27 th and 28 th tooth threshold positions. To solve this problem, the present invention provides a reliable solution to ensure reliable and stable counting of turns. Because the first gear 1 is directly connected with the input shaft 9, the feedback of the single-circle coding position relative to the first gear is more accurate, and the second gear 2, the third gear 3 and the fourth gear 4 have transmission gaps, the zero point of the single-circle absolute value encoder corresponding to the first gear 1 can be used as the zero point mark of the whole multi-circle encoder, and when the zero point is set, the 4 single-circle absolute value encoders are cleared simultaneously. In addition, the single-circle absolute value encoders corresponding to the second gear 2, the third gear 3 and the fourth gear 4 only need to acquire the current tooth number, and the single-circle resolution is far higher than the tooth number, so that the problem of code jumping at a critical position can be solved. Taking the magnetic encoder AS5048 adopted in the scheme AS an example, the resolution is 14bit (the resolution of a single turn is 16384), the first gear 1 corresponds to 13 teeth, taking the first tooth AS an example, when the code value is between 0 and 50, the sum of 50 of the codes corresponding to the first gear 1, the second gear 2, the third gear 3 and the fourth gear 4 is taken AS data used for resolving, and when the code value corresponding to the first gear 1 is between 1210 and 1260, the sum of 50 of the codes corresponding to the first gear 1, the second gear 2, the third gear 3 and the fourth gear 4 is taken AS data used for resolving. Therefore, when the codes corresponding to the first gear 1, the second gear 2, the third gear 3 and the fourth gear 4 slightly fluctuate at critical positions, the codes are synchronized along with the critical condition of the first gear 1, and the stability of the final lap counting result is ensured.
The multi-circle range corresponding to the scheme is 0-20677(>14bit), the single-circle resolution is 16384 (>14bit), and the single-circle absolute value encoder corresponding to the first gear 1 can be replaced by a 17bit or higher-precision photoelectric absolute value encoder for further improving the single-circle resolution.
Further, in another embodiment of the present invention, as shown in fig. 3, the present embodiment is different from the above embodiment in that the number of the driven gears in the present embodiment is four, that is, a fifth gear 7 is added on the basis of the above embodiment, the fifth gear 7 is also disposed on the periphery of the first gear 1 and is meshed with the first gear 1, and compared with the above embodiment, the encoder of the present embodiment increases the counting range by increasing the number of the gears. Besides increasing the number of gears, the number of teeth can be increased to increase the circle counting range of the encoder on the premise of keeping the number of teeth as a prime number, for example, when the number of teeth of the first gear 1 is 23 and the numbers of teeth of the other four gears are 37, 43, 59 and 67, respectively, the circle counting range of the encoder is 0-6289223, and 22bit or more circle counting is realized.
Further, in another embodiment of the present invention, as shown in fig. 4, the present embodiment is different from the above-mentioned embodiment in that the four gears in the present embodiment adopt a transmission form of sequential engagement, which can also achieve a calculation function, but the compactness is reduced, but the maintenance and the repair of each gear are facilitated. In addition, the transmission mode of the invention can be a synchronous belt type or a chain type.
Further, in another embodiment of the present invention, the present embodiment is different from the above-mentioned embodiments in that the mechanical multi-turn absolute value encoder further includes a first-stage speed reducer, a power output shaft of the first-stage speed reducer is connected to the other end of the input shaft 9, a circle counting range of the encoder can be increased by adding the first-stage speed reducer, and a required reduction ratio is smaller than the number of teeth of the first gear 1.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. A mechanical multi-turn absolute value encoder is characterized by comprising a mounting seat, an input shaft, a driving gear, at least one driven gear, a decoding IC and at least two single-turn absolute value encoders, the driving gear and the driven gear are rotationally arranged on the mounting seat, one end of the input shaft is connected with the driving gear, the driving gear is meshed with at least one driven gear, the number of teeth of each driven gear is different prime numbers, the single-circle absolute value encoder is correspondingly arranged on the mounting seat and is used for acquiring the current single-circle position of the corresponding gear, the decoding IC is electrically connected with each single-turn absolute value encoder respectively, and is used for collecting the reading of each single-turn absolute value encoder to decode multiple turns.
2. The mechanical multiturn absolute value encoder of claim 1, wherein the mounting block comprises a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate being disposed in parallel and spaced apart relation and connected by a plurality of connecting rods.
3. The mechanical multiturn absolute value encoder according to claim 2, wherein the driving gear and the driven gear are rotatably disposed on a side of the first mounting plate adjacent to the second mounting plate, and the driven gear is disposed on an outer periphery of the driving gear and is engaged with the driving gear.
4. A mechanical multi-turn absolute value encoder according to claim 1, 2 or 3, characterized in that the single-turn absolute value encoder is a photoelectric single-turn absolute value encoder, a rotary transformer or a magnetic encoder.
5. The mechanical multiturn absolute value encoder according to claim 4, further comprising a primary speed reducer, wherein a power output shaft of the primary speed reducer is connected to the other end of the input shaft.
6. A method for decoding turns, comprising the steps of:
step a1, extracting a mathematical equation set according to the structural model:
A1×Z1+K1＝m
A2×Z2+K2＝m
A3×Z3+K3＝m
..........
..........
An×Zn+Kn＝m
wherein n is a positive integer representing the total number of gears, and m is an integer representing the total number of teeth rotated by each gear; A1-An is An integer representing the number of turns of the gear with the number of 1-n; Z1-Zn is different prime numbers representing the tooth number of No. 1-n gears; K1-Kn represents the number of teeth at the current position of the No. 1-n gear, the number definition starts from 0, and the maximum value is 1 less than the number of teeth;
step b, calculating the number of turns A1-An of each gear and the number of turns of the driving side of the encoder;
when n is known, K1-Kn is known and Z1-Zn is known after the structure and the position are determined, solving m and A1-An; because Z1-Zn is prime number, the minimum common multiple Q is Z1Z 2Z 3 … Zn, when m is Q, the above equation has unique solution according to Chinese remainder theorem; therefore, when the current tooth number K1-Kn of each gear is known, a unique solution of m can be found within the range of m < Q, and the number of turns A1-An of each gear and the number of turns of the driving side of the encoder are known.
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| CN114543643A (en) * | 2022-01-10 | 2022-05-27 | 南京蔚蓝智能科技有限公司 | Position calculation method of mechanical multi-turn encoder |
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| CN114543643A (en) * | 2022-01-10 | 2022-05-27 | 南京蔚蓝智能科技有限公司 | Position calculation method of mechanical multi-turn encoder |
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