CN111795709A - 编码器、马达及机器人 - Google Patents

编码器、马达及机器人 Download PDF

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Publication number
CN111795709A
CN111795709A CN202010265653.8A CN202010265653A CN111795709A CN 111795709 A CN111795709 A CN 111795709A CN 202010265653 A CN202010265653 A CN 202010265653A CN 111795709 A CN111795709 A CN 111795709A
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CN
China
Prior art keywords
gear
axis
shaft
magnet
encoder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010265653.8A
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English (en)
Chinese (zh)
Inventor
外山满
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN111795709A publication Critical patent/CN111795709A/zh
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration 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
    • G01D5/02—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 mechanical means
    • G01D5/04—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 mechanical means using levers; using cams; using gearing
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/443—Devices characterised by the use of electric or magnetic means for measuring angular speed mounted in bearings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
CN202010265653.8A 2019-04-08 2020-04-07 编码器、马达及机器人 Pending CN111795709A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-073589 2019-04-08
JP2019073589A JP7272075B2 (ja) 2019-04-08 2019-04-08 エンコーダー、モーター及びロボット

Publications (1)

Publication Number Publication Date
CN111795709A true CN111795709A (zh) 2020-10-20

Family

ID=72661587

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010265653.8A Pending CN111795709A (zh) 2019-04-08 2020-04-07 编码器、马达及机器人

Country Status (3)

Country Link
US (1) US11506679B2 (enExample)
JP (1) JP7272075B2 (enExample)
CN (1) CN111795709A (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114543846A (zh) * 2020-11-26 2022-05-27 精工爱普生株式会社 编码器单元、驱动装置以及机器人

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018214601A1 (de) * 2018-08-29 2020-03-05 Skf Motion Technologies Ab System zum Erfassen der Position einer Lineareinheit eines Linearsystems
DE102019127297A1 (de) * 2019-10-10 2021-04-15 Schaeffler Technologies AG & Co. KG Sensorvorrichtung zur Erfassung der Drehwinkelstellung einer drehbeweglichen Welle sowie Lenkungsanordnung eines Fahrzeugs

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040078166A1 (en) * 2002-10-18 2004-04-22 Hyundai Mobis, Co., Ltd. Detection apparatus for steering angle in vehicle
CN1929063A (zh) * 2005-09-07 2007-03-14 索尼株式会社 旋转编码器及驱动装置
CN101586940A (zh) * 2008-05-20 2009-11-25 阿尔卑斯电气株式会社 旋转角检测装置
US20110207578A1 (en) * 2010-02-23 2011-08-25 Avago Technologies Ecbu (Singapore) Pte, Ltd. Harmonic Gear Multi-Turn Encoder
CN102749026A (zh) * 2012-07-10 2012-10-24 万向钱潮（上海）汽车系统有限公司 一种绝对式多圈转动角度的检测装置及方法
CN102879024A (zh) * 2011-07-15 2013-01-16 山洋电气株式会社 编码器
JP2014115234A (ja) * 2012-12-12 2014-06-26 Iai Corp 機械式アブソリュートユニットと機械式アブソリュートエンコーダとアクチュエータ
WO2015004873A1 (ja) * 2013-07-10 2015-01-15 パナソニックＩｐマネジメント株式会社 回転角度検出装置
US20150338241A1 (en) * 2014-05-20 2015-11-26 Aisan Kogyo Kabushiki Kaisha Rotation angle detection apparatus
TWM545245U (zh) * 2017-03-28 2017-07-11 台達電子工業股份有限公司 編碼器
CN206627126U (zh) * 2017-03-28 2017-11-10 台达电子工业股份有限公司 编码器
CN208187419U (zh) * 2018-06-07 2018-12-04 深圳布瑞特科技有限公司 一种多圈绝对值编码器

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JP2006234573A (ja) * 2005-02-24 2006-09-07 Tokai Rika Co Ltd 回転角度検出装置
JP6819078B2 (ja) * 2016-05-30 2021-01-27 セイコーエプソン株式会社 エンコーダー、ロボット、及びエンコーダー一体型モーター
JP2018136257A (ja) * 2017-02-23 2018-08-30 セイコーエプソン株式会社 光学スケールユニット、光学スケールユニットの製造方法、エンコーダー、駆動装置、ロボットおよびプリンター
JP6934788B2 (ja) * 2017-09-19 2021-09-15 ミネベアミツミ株式会社 角度検出装置、回転量特定ユニットおよび回転駆動ユニット
JP2019077008A (ja) * 2017-10-26 2019-05-23 セイコーエプソン株式会社 スカラロボット
JP7118628B2 (ja) * 2017-12-01 2022-08-16 キヤノン株式会社 ロボット装置、およびロボット装置の制御方法
JP2019203772A (ja) * 2018-05-23 2019-11-28 ファナック株式会社 多回転アブソリュート型回転角検出装置及びギア
JP6770033B2 (ja) * 2018-09-06 2020-10-14 ファナック株式会社 エンコーダの回転部材の取り付け構造およびエンコーダの回転部材の取り付け方法

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040078166A1 (en) * 2002-10-18 2004-04-22 Hyundai Mobis, Co., Ltd. Detection apparatus for steering angle in vehicle
CN1929063A (zh) * 2005-09-07 2007-03-14 索尼株式会社 旋转编码器及驱动装置
CN101586940A (zh) * 2008-05-20 2009-11-25 阿尔卑斯电气株式会社 旋转角检测装置
US20110207578A1 (en) * 2010-02-23 2011-08-25 Avago Technologies Ecbu (Singapore) Pte, Ltd. Harmonic Gear Multi-Turn Encoder
CN102879024A (zh) * 2011-07-15 2013-01-16 山洋电气株式会社 编码器
CN102749026A (zh) * 2012-07-10 2012-10-24 万向钱潮（上海）汽车系统有限公司 一种绝对式多圈转动角度的检测装置及方法
JP2014115234A (ja) * 2012-12-12 2014-06-26 Iai Corp 機械式アブソリュートユニットと機械式アブソリュートエンコーダとアクチュエータ
WO2015004873A1 (ja) * 2013-07-10 2015-01-15 パナソニックＩｐマネジメント株式会社 回転角度検出装置
US20150338241A1 (en) * 2014-05-20 2015-11-26 Aisan Kogyo Kabushiki Kaisha Rotation angle detection apparatus
TWM545245U (zh) * 2017-03-28 2017-07-11 台達電子工業股份有限公司 編碼器
CN206627126U (zh) * 2017-03-28 2017-11-10 台达电子工业股份有限公司 编码器
CN208187419U (zh) * 2018-06-07 2018-12-04 深圳布瑞特科技有限公司 一种多圈绝对值编码器

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114543846A (zh) * 2020-11-26 2022-05-27 精工爱普生株式会社 编码器单元、驱动装置以及机器人
US11845182B2 (en) 2020-11-26 2023-12-19 Seiko Epson Corporation Encoder unit, drive device, and robot

Also Published As

Publication number Publication date
US20200319224A1 (en) 2020-10-08
US11506679B2 (en) 2022-11-22
JP2020173115A (ja) 2020-10-22
JP7272075B2 (ja) 2023-05-12

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