CN112344970A - Off-axis single-ring single-antipode absolute magnetic encoder - Google Patents
Off-axis single-ring single-antipode absolute magnetic encoder Download PDFInfo
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- CN112344970A CN112344970A CN202011289638.3A CN202011289638A CN112344970A CN 112344970 A CN112344970 A CN 112344970A CN 202011289638 A CN202011289638 A CN 202011289638A CN 112344970 A CN112344970 A CN 112344970A
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- 238000012545 processing Methods 0.000 claims description 10
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 229910000938 samarium–cobalt magnet Inorganic materials 0.000 claims description 3
- 229910000859 α-Fe Inorganic materials 0.000 claims description 3
- 238000001746 injection moulding Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 3
- 230000006698 induction Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- G01D5/14—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
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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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
An off-axis single-ring single-antipode absolute magnetic encoder comprises an encoder body, wherein the encoder body comprises a single-antipode magnetic ring and a reading head which are arranged in parallel, the single-antipode magnetic ring comprises a magnetic ring base and a magnet arranged on the magnetic ring base, the magnet is of a hollow annular structure, one half of circular arc is an N magnetic pole, the other half of circular arc is an S magnetic pole, and the magnetic ring base and the reading head are concentrically arranged on a system to be measured. The invention can greatly compress the size and the weight of the encoder on the premise of keeping higher measurement precision, and can realize off-axis installation.
Description
Technical Field
The invention relates to a magnetic encoder, in particular to an off-axis single-ring single-antipode absolute magnetic encoder.
Background
In engineering, there are a large number of systems that need to accurately detect the angle and speed of the rotational movement, such as the position marker, the turntable, the elevator, the machine tool, the robot joint, the drone, and various similar servo motor systems,
in such measurement applications, there are often several special requirements attached, such as off-axis mounting, severe volume and weight limitations, dust in the use environment, etc., which are difficult to meet with conventional rotary encoders.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provide a single-ring single-antipode absolute magnetic encoder which is simple in structure and can realize off-axis installation.
The technical scheme adopted by the invention for solving the technical problem is that the off-axis single-ring single-antipode absolute magnetic encoder comprises an encoder body, wherein the encoder body comprises a single-antipode magnetic ring and a reading head which are arranged in parallel, the single-antipode magnetic ring comprises a magnetic ring base and a magnet arranged on the magnetic ring base, the magnet is of a hollow annular structure, one half of an arc is an N magnetic pole, the other half of the arc is an S magnetic pole, and the magnetic ring base and the reading head are concentrically arranged on a system to be measured.
Further, the reading head comprises a Hall combination, a signal acquisition unit, a signal processing unit, an external clock and a reference voltage module which are electrically connected.
Furthermore, the Hall assembly comprises at least three Hall devices, and the measuring surfaces of the Hall devices are close to the outer end surface of the magnetic ring and are parallel to the outer end surface of the magnetic ring.
Furthermore, all the Hall devices are arranged on the reading head in an equal radian.
Further, the magnet material is one or more of ferrite, neodymium iron boron magnet, samarium cobalt magnet and injection molding magnet, rubber magnet.
Further, the signal processing unit takes a microprocessor as a core, obtains the output of the signal acquisition unit according to the specified frequency, calculates the rotation angle value according to the amplitude and the phase of the output signal, and outputs the signal in the forms of ABZ, SPI, 485 and CAN.
The invention is based on Hall effect and microprocessor technology, can realize the measurement of the angle of rotation through Hall effect, design a periodic magnetic field at first, install three Hall devices around the magnetic field, in the course of rotating, the magnetic field of the position where Hall device locates changes thereupon, Hall device produces the corresponding electric signal to export, the microprocessor gathers the output signal of a plurality of Hall devices, calculate the present angle of rotation, the invention can be under the prerequisite that keeps higher measurement accuracy, the size and weight of the very large compression encoder, and can realize the off-axis installation.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a side view of the embodiment shown in FIG. 1;
FIG. 3 is a schematic diagram of the operation of an embodiment of the present invention;
fig. 4 is a magnetic induction intensity curve of periodic variation acquired by three hall devices in the embodiment shown in fig. 1.
In the figure: 1000-magnetic encoder body, 1100-single-pair-pole magnetic ring, 1110-magnet, 1120-magnetic ring base, 1200-reading head, 1210-Hall combination, 1211-first Hall device, 1212-second Hall device, 1213-third Hall device, 1220-signal acquisition unit and 1230-signal processing unit.
Detailed Description
Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. And it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.
As should also be clear to those of ordinary skill in the art, the system shown in the figures is a model that may be similar to an actual system. As noted, many of the modules and logical structures described are capable of being implemented in software executed by a microprocessor or a similar device or of being implemented in hardware using a variety of components including, for example, Application Specific Integrated Circuits (ASICs). Terms like "combination, acquisition unit, processing unit" may comprise or refer to hardware and/or software. In addition, terms written in capital letters will be used in the specification. These terms are used to conform to conventions and to help associate the description with the coding examples and drawings. However, no specific meaning is implied or should be inferred simply due to the use of capitalization. Thus, the claims should not be limited to the specific examples or terminology or to any specific software or hardware implementation or combination of software or hardware.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1-2, the present embodiment includes a magnetic encoder body 1000, where the magnetic encoder body 1000 includes a single-pole magnetic ring 1100 and a reading head 1200 that are installed in parallel, the single-pole magnetic ring 1100 includes a magnetic ring base 1120 and a magnet 1110 installed on the magnetic ring base 1120, the magnet 1110 is a hollow ring structure, a half of an arc is an N-pole, the other half of the arc is an S-pole, through holes matched in position are provided on the magnetic ring base 1120 and the reading head 1200, and the through holes are concentrically installed on a system to be measured.
The actual arc lengths of the two poles will have a difference due to manufacturing that is within the manufacturing tolerances normally allowed, i.e. should be considered to be the same arc length.
The reading head 1200 includes a hall assembly 1210, a signal acquisition unit 1220, a signal processing unit 1230, an external clock and reference voltage module (not shown in the figure) which are electrically connected.
The hall assembly 1210 includes three hall devices, namely a first hall device 1211, a second hall device 1212, and a third hall device 1213, and a measurement surface of each hall device is close to an outer end surface of the single-pole pair magnetic ring 1100 and is parallel to the outer end surface of the single-pole pair magnetic ring 1100. The first, second, and third hall devices 1211, 1212, 1213 are arranged in an equal arc on the readhead 1200, with the hall devices spaced from each other by 1/2 pole arc lengths.
The magnet 1110 is made of a permanent magnet, and is one or a combination of ferrite, neodymium iron boron magnet, samarium cobalt magnet, injection molded magnet and rubber magnet.
The signal processing unit 1230 takes a microprocessor as a core, acquires the output of the signal acquisition unit according to the designated frequency, calculates the rotation angle value according to the amplitude and the phase of the output signal, and outputs the signal in the forms of ABZ, SPI, 485, CAN and the like.
The working principle of this embodiment is shown in fig. 3, which specifically includes the following steps:
the projections of the centers of the measurement surfaces of the first Hall device 1211, the second Hall device 1212, and the third Hall device 1213 on a plane are located above an arc concentric with the single-pole pair magnetic ring 1100, with the Hall devices spaced 1/2 pole arc lengths from one another.
The actual mounting of the hall devices results in concentricity and distance differences that are within the tolerances of manufacturing and mounting that are normally allowed, i.e., should be considered the same.
The amplitude of the output signal of the hall device is linear with the magnetic induction intensity of the current measuring surface, and in the measuring process of the magnetic encoder body 1000, the first hall device 1211, the second hall device 1212, and the third hall device 1213 can respectively measure three groups of periodically changing magnetic induction intensities, as shown in fig. 4, "1" of the ordinate represents the maximum value of the magnetic induction intensity, there is no specific unit, and the abscissa unit is the magnetic induction radian.
The signal collection unit 1220 collects outputs of the first hall device 1211, the second hall device 1212, and the third hall device 1213 at the same time, linearly adjusts the amplitude of the signal, removes noise, and transmits the noise to the signal processing unit 1230.
At the core of the signal processing unit 1230 is a microprocessor, which uses STM32F373, or a microprocessor with similar architecture and function.
The microprocessor collects the processed output of the hall devices from the signal collection unit according to the designated frequency by taking the frequency of the external clock as a reference, and calculates the relative angular displacement, namely the rotation angle, of the single-pair polar magnetic ring 1100 and the reading head 1200 at present according to the amplitude and the phase of the output signals of the first hall device 1211, the second hall device 1212 and the third hall device 1213.
The reference power supply module collects and processes signals to provide reference voltage. The magnetic encoder body 1000 automatically outputs the measured rotation angle to the outside at regular time through a 485 or SPI interface.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are still within the scope of the present patent invention provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (6)
1. The utility model provides an absolute formula magnetic encoder of single antipode of off-axis single loop, includes the encoder body, its characterized in that: the encoder body comprises a single-antipodal magnetic ring and a reading head which are arranged in parallel, the single-antipodal magnetic ring comprises a magnetic ring base and a magnet arranged on the magnetic ring base, the magnet is of a hollow annular structure, one semicircle is an N magnetic pole, the other semicircle is an S magnetic pole, and the magnetic ring base and the reading head are concentrically arranged on a system to be measured.
2. An off-axis single turn single pair pole absolute magnetic encoder according to claim 1, wherein: the reading head comprises a Hall combination, a signal acquisition unit, a signal processing unit, an external clock and a reference voltage module which are electrically connected.
3. An off-axis single turn single pair pole absolute magnetic encoder according to claim 2, wherein: the Hall combination comprises at least three Hall devices, and the measuring surfaces of the Hall devices are close to the outer end face of the magnetic ring and are parallel to the outer end face of the magnetic ring.
4. An off-axis single turn single pair pole absolute magnetic encoder according to claim 3, wherein: all the Hall devices are arranged on the reading head in an equal radian.
5. An off-axis single turn single pair pole absolute magnetic encoder according to any of claims 1 to 4, wherein: the magnet material is one or more combinations of ferrite, neodymium iron boron magnet, samarium cobalt magnet and injection molding magnet, rubber magnet.
6. An off-axis single turn single pair pole absolute magnetic encoder according to any of claims 2 to 4, wherein: the signal processing unit takes a microprocessor as a core, acquires the output of the signal acquisition unit according to the specified frequency, calculates the rotation angle value according to the amplitude and the phase of the output signal, and outputs the signal in the forms of ABZ, SPI, 485 and CAN.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289638.3A CN112344970A (en) | 2020-11-17 | 2020-11-17 | Off-axis single-ring single-antipode absolute magnetic encoder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289638.3A CN112344970A (en) | 2020-11-17 | 2020-11-17 | Off-axis single-ring single-antipode absolute magnetic encoder |
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| CN112344970A true CN112344970A (en) | 2021-02-09 |
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| CN202011289638.3A Pending CN112344970A (en) | 2020-11-17 | 2020-11-17 | Off-axis single-ring single-antipode absolute magnetic encoder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114485381A (en) * | 2021-12-15 | 2022-05-13 | 湖南航天磁电有限责任公司 | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114485381A (en) * | 2021-12-15 | 2022-05-13 | 湖南航天磁电有限责任公司 | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder |
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