CN113405575B - Mechanical multi-turn absolute time grating encoder - Google Patents
Mechanical multi-turn absolute time grating encoder Download PDFInfo
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- CN113405575B CN113405575B CN202110827587.3A CN202110827587A CN113405575B CN 113405575 B CN113405575 B CN 113405575B CN 202110827587 A CN202110827587 A CN 202110827587A CN 113405575 B CN113405575 B CN 113405575B
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Abstract
The invention discloses a mechanical multi-circle absolute time grating encoder, which utilizes a first time grating angle sensing unit to be matched with a first gear and a first eccentric shaft neck to measure the absolute angle of a first rotating shaft in a single circle range of [0,360 DEG ], utilizes a second time grating angle sensing unit to be matched with a fourth gear and a second eccentric shaft neck to measure the absolute angle of a third rotating shaft in the single circle range of [0,360 DEG), and combines the transmission ratio relation of the first gear and the fourth gear to further measure the absolute angles of the number of circles N1 of the rotation of the first rotating shaft and the first rotating shaft in the multi-circle range of [0,360 DEG x N)
The invention has the characteristics of high reliability, compact structure, high measurement precision and the like.
Description
Technical Field
The invention belongs to the technical field of precision measurement sensors, and particularly relates to a mechanical multi-turn absolute time grating encoder.
Background
The present encoder is used as one of sensor technologies, and is mainly used for detecting the speed, position, angle, distance and count of mechanical movement. The multi-turn absolute encoder can obtain information such as the current position immediately after power is off and the power is on again, and zero resetting is not needed. However, the multi-turn absolute encoders (such as battery multi-turn encoders relying on battery memory, wiegand electronic multi-turn encoders relying on wiegand power generation micro-energy storage, etc.) on the market still need to rely on external energy to store information such as current position, are not really power-off storage, and have low reliability. In contrast, the mechanical multi-turn absolute encoder utilizes a plurality of groups of gear transmission, and can encode the mechanical position to acquire and store the information such as the current position, but larger transmission errors can be caused by more gear transmission stages.
Disclosure of Invention
The invention aims to provide a mechanical multi-turn absolute time grating encoder, which is used for reducing transmission errors and improving measurement accuracy through a compact structure.
The invention relates to a mechanical multi-turn absolute time grating encoder which comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a first time grating angle sensing unit, a second time grating angle sensing unit and a signal processing system. The first rotating shaft is provided with a magnetic conduction first eccentric shaft neck, and the first rotating shaft is coaxially fixed with a tooth number z 1 The magnetic conductive first gear and the second rotating shaft are coaxially fixed with the tooth number z 2 And the number of teeth is z 3 The third gear of the pair of the first and second gears is provided with a second eccentric shaft neck with magnetic conduction, and the third shaft is coaxially fixed with a tooth number z 4 The first gear is meshed with the second gear, and the third gear is meshed with the fourth gear; wherein let m=z 1 *z 3 ，N＝z 2 *z 4 M and N are prime numbers. The first time grating angle sensing unit comprises a first fan-shaped annular fixed measuring head and a first circular ring-shaped fixed measuring head, the first fan-shaped annular fixed measuring head is coaxially arranged on the outer side of the first gear, a gap is reserved between the first fan-shaped annular fixed measuring head and the first gear, the first circular ring-shaped fixed measuring head is sleeved outside the first eccentric shaft neck, a gap is reserved between the first circular ring-shaped fixed measuring head and the first eccentric shaft neck, and the axis of the first circular ring-shaped fixed measuring head coincides with the axis of the first rotating shaft. The second time grating angle sensing unit comprises a second fan-shaped fixed measuring head and a second circular ring-shaped fixed measuring head, the second fan-shaped fixed measuring head is coaxially arranged beside the fourth gear, a gap is reserved between the second fan-shaped fixed measuring head and the fourth gear, the second circular ring-shaped fixed measuring head is sleeved outside the second eccentric shaft neck, and the second circular ring-shaped fixed measuring head is sleeved outside the second eccentric shaft neckA gap is reserved between the measuring head and the second eccentric shaft neck, and the axis of the second circular measuring head coincides with the axis of the second rotating shaft; the first fan-shaped annular fixed measuring head, the first annular fixed measuring head, the second fan-shaped annular fixed measuring head and the second annular fixed measuring head are connected with the signal processing system.
The signal processing system generates excitation signals to act on an excitation coil on the first annular measuring head, an excitation coil on the second annular measuring head and an excitation coil on the second annular measuring head, when the first rotating shaft is used as a driving shaft to rotate, the second rotating shaft and the third rotating shaft are used as driven shafts to rotate, the signal processing system processes the induction signals output by the induction coil on the first annular measuring head, the induction signals output by the induction coil on the second annular measuring head and the induction signals output by the induction coil on the second annular measuring head to obtain the number of turns n of the rotation of the first rotating shaft 1 And absolute angle of the first axis of rotation in the range of [0,360 DEG x N) multiple turns
Preferably, the first rotating shaft is a magnetically conductive gear shaft, and the first gear is a gear directly processed on the first rotating shaft; the second rotating shaft is a gear shaft, and the second gear and the third gear are gears which are directly processed on the second rotating shaft; the third rotating shaft is a magnetic conductive gear shaft, and the fourth gear is a gear directly processed on the third rotating shaft.
When the first rotating shaft is used as the driving shaft, the transmission ratio of the first gear to the fourth gear is used
(M and N satisfy a mutual quality relationship); therefore, when the first gear rotates N circles (also the first rotating shaft rotates N circles), the fourth gear just rotates M circles (also the third rotating shaft just rotates M circles), namely when the first gear and the fourth gear start rotating from a certain position and return to the same position at the same time, the difference of the circles of the two rotations is just N-M circlesThis is said to complete one cycle of motion. When the first gear rotates 1 turn, the angular difference of the first gear minus the fourth gear is called the first peripheral angle K ', ∈1'>
From the above analysis, the first gear rotates by n when the angle difference between the first gear and the fourth gear increases by 1 first rotation angle K' for every 1 rotation of the first gear 1 The angular difference between the first gear and the fourth gear is n 1 * K'; therefore, after the absolute angles of the first gear and the fourth gear (also the absolute angles of the first rotating shaft and the third rotating shaft in the single-circle range of [0,360 °) are respectively measured by the first time grating angle sensing unit and the second time grating angle sensing unit, the number of turns n of the rotation of the first rotating shaft can be obtained 1 And absolute angle of the first axis of rotation in the range of [0,360 DEG x N) multiple turns
Preferably, the number of turns n of the first shaft is obtained 1 And absolute angle of the first axis of rotation in the range of [0,360 DEG x N) multiple turns
The specific mode of (a) is as follows:
the signal processing system processes multipole induction signals output by the induction coils on the first fan-shaped annular fixed measuring head and monopole induction signals output by the induction coils on the first annular fixed measuring head to obtain absolute angle theta of the first rotating shaft within the single-circle range of [0,360 DEG ] 1 . The signal processing system processes multipole induction signals output by the induction coils on the second fan-shaped fixed measuring head and unipolar induction signals output by the induction coils on the second circular-shaped fixed measuring head to obtain absolute angle theta of the third rotating shaft within the single-circle range of [0,360 ] 4 。
The signal processing system uses the formula:
calculating the number of turns n of the first rotating shaft 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein Floor () represents a rounding down operation, +.>
Representing down +.>
Is the first angular difference, Δθ' =θ 1 -θ 4 K' represents a first perimeter angle, < >>
The signal processing system uses the formula: />
Calculating the absolute angle of the first rotation axis within the range of [0,360 DEG N ] multiple circles>
Because the first gear has a periodic tooth slot structure, when the first gear rotates relative to the first fan-shaped annular fixed head, the induction coil on the first fan-shaped annular fixed head can generate periodic induction signals (namely multipole induction signals) which change along with the position. Because the axis of the first eccentric journal is parallel to the axis of the first annular fixed measuring head, the gap between the first eccentric journal and the first annular fixed measuring head is uneven, and the first eccentric journal can generate regular air gap length change when rotating within a 360-degree range, so when the first eccentric journal rotates relatively to the first annular fixed measuring head, the induction coil on the first annular fixed measuring head can generate periodic induction signals (which are monopole induction signals) with position change.
The signal processing system processes multipole induction signals output by induction coils on the first fan-shaped fixed measuring head to obtainThe measured angle measurement β' is refined by the time the first axis of rotation is turned to a certain position (also the first gear is turned to a certain position). The signal processing system processes a monopole induction signal output by an induction coil on the first annular fixed measuring head to obtain a rough measurement angle measurement value beta 'when the first rotating shaft rotates to a certain position' 0 . Wherein beta' 0 The value range of beta 'is preset as 0,360 degrees by the signal processing system, and the value range of beta' is preset as by the microprocessor
When the first rotating shaft is set to be in absolute zero position, beta' 0 =β' =0; when the first rotating shaft starts to rotate for one circle relative to the first time grid angle sensing unit from absolute zero position, the rough measurement angle measurement value beta' 0 At [0,360 ° ] 1 change, the refined angle measurement β' is +.>
The change was 1 time. The signal processing system uses the formula: />
Calculating the absolute angle theta of the first rotating shaft within the single-circle range of [0,360 DEG ] 1 . Floor () represents a rounding down operation, +.>
Representing down +.>
Is an integer part of (c).
Because the third gear has a periodic tooth groove structure, when the third gear rotates relative to the second fan-shaped fixed head, the induction coil on the second fan-shaped fixed head can generate periodic induction signals (namely multipolar induction signals) which change along with the position. Because the axis of the second eccentric journal is parallel to the axis of the second circular measuring head, the gap between the second eccentric journal and the second circular measuring head is uneven, and the second eccentric journal generates regular air gap length change when rotating within 360 degrees of one circle, so when the second eccentric journal rotates relatively to the second circular measuring head, the induction coil on the second circular measuring head generates periodic induction signals (which are monopole induction signals) with position change.
The signal processing system processes multipole induction signals output by the induction coils on the second fan-shaped fixed measuring head to obtain a precise measurement angle measurement value beta' when the third rotating shaft rotates to a certain position (also when the fourth gear rotates to a certain position). The signal processing system processes the monopole induction signal output by the induction coil on the second annular fixed measuring head to obtain a rough measurement angle measurement value beta' when the third rotating shaft rotates to a certain position 0 . Wherein, beta% 0 The value range of (a) is preset as [0,360 DEG ] by the signal processing system, and the value range of beta' is preset as by the microprocessor
Simultaneously setting the third rotating shaft to be positioned at an absolute zero position 0 =β "=0; when the third rotating shaft rotates for one circle relative to the second time grating angle sensing unit from the absolute zero position, the angle measurement value beta' is roughly measured 0 At [0,360 ] 1 change, the refined angle measurement β "is +.>
The change was 1 time. The signal processing system uses the formula: />
Calculating the absolute angle theta of the third rotating shaft within the single-circle range of [0,360 DEG ] 4 . Floor () represents a rounding down operation, +.>
Representing down +.>
Is an integer part of (c).
The invention has the following effects:
(1) Compared with the existing mechanical multi-circle absolute encoder, the multi-stage gear transmission is reduced to two-stage gear transmission, the absolute angle of the first rotating shaft in the single circle range of [0,360 DEG ] is measured by utilizing the first time grating angle sensing unit to be matched with the first gear and the first eccentric journal, the absolute angle of the third rotating shaft in the single circle range of [0,360 DEG ] is measured by utilizing the second time grating angle sensing unit to be matched with the fourth gear and the second eccentric journal, and the number of turns n of rotation of the first rotating shaft is measured 1 And absolute angle of the first axis of rotation in the range of [0,360 DEG x N) multiple turns
The structure is more compact, and the transmission error is smaller, so that the measurement accuracy is improved.
(2) Compared with an absolute encoder which performs internal memory by means of equipment such as a battery, the absolute encoder is truly stored by means of power failure of the equipment such as the battery, and the situation that the equipment such as the battery cannot work after power failure does not exist.
(3) Because the detection element is the first time grating angle sensing unit and the second time grating angle sensing unit, the requirements on the working environment are lower, and the working under extreme environments such as high temperature/low temperature environments, strong vibration, impact and the like can be realized.
Drawings
Fig. 1 is a schematic structural diagram of the present embodiment.
Fig. 2 is a schematic structural diagram of the first shaft in the present embodiment.
Fig. 3 is a schematic structural diagram of the second shaft in the present embodiment.
Fig. 4 is a schematic structural diagram of a third shaft in the present embodiment.
Fig. 5 is a schematic block diagram of signal processing in the present embodiment.
Detailed Description
In order to make the above structures, features, advantages and the like of the present invention more comprehensible, a specific example is given below, and the detailed description is given with reference to the accompanying drawings.
The mechanical multi-turn absolute time grating encoder as shown in fig. 1 to 5 comprises a first rotating shaft 1, a second rotating shaft 2, a third rotating shaft 3, a first time grating angle sensing unit 4, a second time grating angle sensing unit 5 and a signal processing system.
As shown in fig. 2, the first rotating shaft 1 is a magnetically conductive gear shaft, and the first rotating shaft 1 is provided with a first gear 11 and a first eccentric journal 12 (the corresponding first gear 11 and first eccentric journal 12 are magnetically conductive). The axis of the first gear 11 coincides with the axis of the first rotating shaft 1, the modulus of the first gear 11 is 0.7, the number of teeth is 65 (i.e. z 1 =65); the first eccentric journal 12 is a cylinder protruding 10mm on one side of the first gear (i.e., the axial length of the first eccentric journal 12 is 10 mm), the axis of the first eccentric journal 12 is parallel to the axis of the first rotary shaft 1 and is offset by 1mm in the radial direction, the diameter of the first eccentric journal 12 is 20mm, and the diameter of the first eccentric journal 12 is smaller than the difference between the root circle diameter of the first gear 11 and the offset distance (i.e., 1 mm). The first gear 11 is preferably a standard spur gear.
As shown in fig. 3, the second rotating shaft 2 is a gear shaft (magnetically permeable or non-magnetically permeable), a second gear 21 and a third gear 22 are coaxially and alternately machined on the second rotating shaft 2, and the axis of the second gear 21 and the axis of the third gear 22 are coincident with the axis of the second rotating shaft 2. The second gear 21 has a modulus of 0.7 and a number of teeth of 64 (i.e. z 2 =64), the third gear 22 has a modulus of 0.7 and a number of teeth of 63 (i.e. z 3 =63). The second gear 21 and the third gear 22 are preferably standard spur gears.
As shown in fig. 4, the third rotating shaft 3 is a magnetically conductive gear shaft, and the fourth gear 31 and the second eccentric journal 32 are machined on the third rotating shaft 3 (the corresponding fourth gear 31 and the second eccentric journal 32 are magnetically conductive). The axis of the fourth gear 31 coincides with the axis of the third rotating shaft 3, the modulus of the fourth gear 31 is 0.7, the number of teeth is 64 (i.e. z 4 =64); the second eccentric journal 32 is a cylinder protruding 11mm on the side of the fourth gear (i.e., the axial length of the second eccentric journal 32 is 11 mm), the axis of the second eccentric journal 32 is parallel to the axis of the third rotating shaft 3 and is offset by 1mm in the radial direction, the diameter of the second eccentric journal 32 is 20mm, and the diameter of the second eccentric journal 32 is smaller than the difference between the root circle diameter of the fourth gear 31 and the offset distance (i.e., 1 mm). The fourth gear 31 is preferably a standard spur gear.
As shown in fig. 1, the first gear 11 is engaged with the second gear 21 and is mounted with its center planes coincident and at a standard center distance. The third gear 22 is meshed with the fourth gear 31 and is mounted with its center faces coincident and at a standard center distance. M=z 1 *z 3 ＝4095，N＝z 2 *z 4 =4096, 4095 and 4096 satisfy the mutual mass relationship.
As shown in fig. 1 and 5, the first time grating angle sensing unit 4 includes a first fan-shaped ring-shaped fixed head 41 and a first ring-shaped fixed head 42, the first fan-shaped ring-shaped fixed head 41 has a plurality of teeth around which an excitation coil and an induction coil are wound, and the first ring-shaped fixed head 42 has a plurality of teeth around which an excitation coil and an induction coil are wound. The first fan-shaped annular measuring head 41 is coaxially arranged on the outer side of the first gear 11, a gap is reserved between the first fan-shaped annular measuring head 41 and the first gear 11, and the central surface of the first fan-shaped annular measuring head 41 and the central surface of the first gear 11 are located on the same plane. The first annular fixed measuring head 42 is sleeved outside the first eccentric shaft neck 12, a gap is reserved between the first annular fixed measuring head 42 and the first eccentric shaft neck 12, the central surface of the first annular fixed measuring head 42 and the central surface of the first eccentric shaft neck 12 are located on the same plane, and the axis of the first annular fixed measuring head 42 is coincident with the axis of the first rotating shaft 1. The second time grating angle sensing unit 5 includes a second fan-shaped fixed probe 51 and a second circular-ring-shaped fixed probe 52, the second fan-shaped fixed probe 51 has a plurality of teeth around which the excitation coil and the induction coil are wound, and the second circular-ring-shaped fixed probe 52 has a plurality of teeth around which the excitation coil and the induction coil are wound. The second fan-shaped measuring head 51 is coaxially arranged on the outer side of the fourth gear 31, a gap is reserved between the second fan-shaped measuring head 51 and the fourth gear 31, and the center surface of the second fan-shaped measuring head 51 and the center surface of the fourth gear 31 are located on the same plane. The second circular measuring head 52 is sleeved outside the second eccentric shaft neck 32, a gap is reserved between the second circular measuring head 52 and the second eccentric shaft neck 32, the center surface of the second circular measuring head 52 and the center surface of the second eccentric shaft neck 32 are located on the same plane, and the axis of the second circular measuring head 52 is coincident with the axis of the second rotating shaft 2.
The signal processing system comprises an analog filter circuit, a first amplifying filter circuit, a second amplifying filter circuit, a third amplifying filter circuit, a fourth amplifying filter circuit and a microprocessor, wherein the microprocessor generates an excitation signal which is acted on an excitation coil on the first fan-shaped fixed probe 41, an excitation coil on the first circular ring-shaped fixed probe 42, an excitation coil on the second fan-shaped fixed probe 51 and an excitation coil on the second circular ring-shaped fixed probe 52 after passing through the analog filter circuit. When the first rotating shaft 1 is used as a driving shaft to rotate, the second rotating shaft 2 and the third rotating shaft 3 are used as driven shafts to rotate, namely when the first rotating shaft 1 is used as the driving shaft to rotate, the first eccentric journal 12 rotates, the first gear 11 rotates to drive the second gear 21 to rotate, the second gear 21 rotates to drive the second rotating shaft 2 to rotate, the second rotating shaft 2 rotates to drive the third gear 22, the third gear 22 rotates to drive the fourth gear 31 to rotate, the fourth gear 31 rotates to drive the third rotating shaft 3 and the second eccentric journal 32 to rotate, the induction coil on the first fan-shaped fixed head 41 outputs a periodically-changed multipolar induction signal, and the multipolar induction signal is amplified and filtered by the first amplifying and filtering circuit and then is input into the microprocessor; the induction coil on the first circular fixed head 42 outputs a periodically-changed monopole induction signal, and the monopole induction signal is amplified and filtered by the second amplifying and filtering circuit and then is input into the microprocessor; the induction coil on the second fan-shaped fixed head 51 outputs a multipole induction signal which changes periodically, and the multipole induction signal is amplified and filtered by a third amplifying and filtering circuit and then is input into the microprocessor; the induction coil on the second circular measuring head 52 outputs a periodically-changing monopole induction signal, which is amplified and filtered by the fourth amplifying and filtering circuit and then input into the microprocessor.
The microprocessor compares the signal input from the first amplifying and filtering circuit with the excitation signal, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the precise angle measurement value beta' when the first rotating shaft 1 rotates to a certain position is obtained through conversion. The microprocessor compares the signal input from the second amplifying and filtering circuit with the excitation signal, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the rough measurement angle measurement value beta 'when the first rotating shaft 1 rotates to a certain position is obtained by conversion' 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein beta' 0 The value range of (a) is preset as [0,360 °) (namely 0.ltoreq.beta '] by the microprocessor' 0 < 360 °), the value range of beta' is already preset by the microprocessorIs set as
(i.e.)>
) When the first rotating shaft 1 is set to be positioned at the absolute zero position, beta' 0 =β' =0; when the first rotating shaft 1 starts to rotate for one circle relative to the first time grid angle sensing unit 4 from the absolute zero position, the rough measurement angle measurement value beta 'is obtained' 0 At [0,360 ° ] 1 change, the refined angle measurement β' is +.>
The change was 1 time. The microprocessor uses the formula:
calculating absolute angle theta of first rotating shaft 1 in single-circle range of [0,360 DEG ] 1 The method comprises the steps of carrying out a first treatment on the surface of the Floor () represents a rounding down operation, +.>
Representing down +.>
Is an integer part of (c).
The microprocessor compares the signal input from the third amplifying and filtering circuit with the excitation signal, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the precise angle measurement value beta' when the third rotating shaft 3 rotates to a certain position is obtained through conversion; the microprocessor compares the signal input from the fourth amplifying and filtering circuit with the excitation signal, the phase difference is represented by the number of the interpolated high-frequency clock pulses, and the rough measurement angle measurement value beta' when the third rotating shaft 3 rotates to a certain position is obtained by conversion 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein, beta% 0 The value range of (a) is preset as [0,360 °) (namely 0.ltoreq.beta. ") by the microprocessor 0 Less than 360 °), the value range of beta″ has been preset by the microprocessor as
(i.e.)>
) When the third rotating shaft 3 is set to be positioned at the absolute zero position, beta 0 =β "=0; when the third rotary shaft 3 rotates one turn relative to the second time grating angle sensing unit 5 from the absolute zero position, the angle measurement value beta″ is roughly measured 0 At [0,360 ] 1 change, the refined angle measurement β "is +.>
The change was 1 time. The microprocessor uses the formula:
calculating absolute angle theta of the third rotating shaft 3 within a single circle range of [0,360 DEG ] 4 . Floor () represents a rounding down operation, +.>
Representing down +.>
Is an integer part of (c).
Obtaining the absolute angle theta of the first rotating shaft 1 within the single-circle range of [0,360 DEG ] 1 And the absolute angle theta of the third rotating shaft 3 within a single circle range of [0,360 DEG ] 4 The microprocessor then uses the formula:
calculating the number of turns n of the first rotating shaft 1 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein Floor () represents a rounding down operation, +.>
Representing down +.>
Is the first angular difference, Δθ' =θ 1 -θ 4 K' represents a first perimeter angle, < >>
The microprocessor uses the formula:
calculating absolute angle +.f of the first rotating shaft 1 within [0,1474560 ] multi-circle range>
The microprocessor outputs the number of turns n of the first rotating shaft 1 according to the subsequent requirement 1 And/or absolute angle of the first rotation axis 1 in the range of [0,1474560 ] multi-turn ]>
Likewise, in the present embodiment, the number of turns n of the third rotation shaft 3 may also be calculated 4 And absolute angle of the third rotation axis 3 in [0,1474200 °) (i.e., [0,360 ° ×m ]) multiple turns range
Since the fourth gear 31 is rotated by exactly 4095 turns (also by exactly 4095 turns of the third rotation shaft 3) when the first gear 11 is rotated by 4096 turns (also by 4096 turns of the first rotation shaft 1), that is, when the first gear 11 and the fourth gear 31 start to rotate from a certain position and return to the same position at the same time, the fourth gear 31 and the first gear 11 are just 1 turn different, this is said to complete one cycle of movement.
When the fourth gear 31 rotates 1 turn, the angle difference of the fourth gear 31 minus the first gear 11 is referred to as the second peripheral angle K ",
(negative value).
Every 1 turn of the fourth gear 31, the angle difference of the fourth gear 31 minus the first gear 11 increases by 1 second circumferential difference angle K ", and the fourth gear 31 rotates n 4 The angular difference between the circle, the fourth gear 31 and the first gear 11 is n 4 *K″。
The microprocessor uses the formula:
calculating the number of turns n of the third rotating shaft 3 4 The method comprises the steps of carrying out a first treatment on the surface of the Wherein Floor () represents a rounding down operation, +.>
Representing down +.>
Is the second angular difference, Δθ "=θ 4 -θ 1 (negative value). The microprocessor uses the formula: />
Calculating absolute angle +.f of third rotation axis 3 in [0,1474200 ] multi-circle range>
/>
Claims (4)
1. A mechanical multi-turn absolute time grating encoder, characterized by: the device comprises a first rotating shaft (1), a second rotating shaft (2), a third rotating shaft (3), a first time grating angle sensing unit (4), a second time grating angle sensing unit (5) and a signal processing system;
the first rotating shaft (1) is provided with a first eccentric shaft neck (12) with magnetic conduction, and the first rotating shaft (1) is coaxially fixed with a tooth number z 1 The magnetic conductive first gear (11) of the second rotating shaft (2) is coaxially fixed with the tooth number z 2 And the number of teeth of the second gear (21) is z 3 The third gear (22) of the pair of rotary shafts (3) is provided with a second magnetic-conductive eccentric shaft neck (32), and the third rotary shaft (3) is coaxially fixed with the tooth number z 4 A magnetically conductive fourth gear (31), the first gear (11) is meshed with the second gear (21), and the third gear (22) is meshed with the fourth gear (31); wherein let m=z 1 *z 3 ，N＝z 2 *z 4 M and N are prime numbers;
the first time grating angle sensing unit (4) comprises a first fan-shaped annular fixed measuring head (41) and a first annular fixed measuring head (42), the first fan-shaped annular fixed measuring head (41) is coaxially arranged on the outer side of the first gear (11) and is spaced from the first gear (11), the first annular fixed measuring head (42) is sleeved outside the first eccentric shaft neck (12) and is spaced from the first eccentric shaft neck (12), and the axis of the first annular fixed measuring head (42) is coincident with the axis of the first rotating shaft (1); the second time grating angle sensing unit (5) comprises a second fan-shaped fixed measuring head (51) and a second circular ring-shaped fixed measuring head (52), the second fan-shaped fixed measuring head (51) is coaxially arranged on the outer side of the fourth gear (31) and is in clearance with the fourth gear (31), the second circular ring-shaped fixed measuring head (52) is sleeved outside the second eccentric shaft neck (32) and is in clearance with the second eccentric shaft neck (32), and the axis of the second circular ring-shaped fixed measuring head (52) is overlapped with the axis of the second rotating shaft (2); the first fan-shaped annular fixed measuring head (41), the first annular fixed measuring head (42), the second fan-shaped annular fixed measuring head (51) and the second annular fixed measuring head (52) are connected with the signal processing system;
the signal processing system generates excitation signals to act on excitation coils on the first fan-shaped annular fixed measuring head (41), the first annular fixed measuring head (42), the second fan-shaped annular fixed measuring head (51) and the second annular fixed measuring head (52), when the first rotating shaft (1) is used as a driving shaft to rotate, the second rotating shaft (2) and the third rotating shaft (3) are used as driven shafts to rotate, the signal processing system processes induction signals output by induction coils on the first fan-shaped annular fixed measuring head (41), the first annular fixed measuring head (42), the second fan-shaped annular fixed measuring head (51) and the second annular fixed measuring head (52) to obtain the number n of rotation of the first rotating shaft (1) 1 And absolute angle of the first rotation axis (1) in the range of [0,360 DEG N ] multiple turns
2. The mechanical multi-turn absolute time-grating encoder of claim 1, wherein: the first rotating shaft (1) is a magnetic conductive gear shaft, and the first gear (11) is a gear directly processed on the first rotating shaft; the second rotating shaft (2) is a gear shaft, and the second gear (21) and the third gear (22) are gears which are directly processed on the second rotating shaft (2); the third rotating shaft (3) is a magnetic conductive gear shaft, and the fourth gear (31) is a gear directly processed on the third rotating shaft.
3. The mechanical multi-turn absolute time gate encoder of claim 1 or 2, wherein: obtaining the number of turns n of the first rotating shaft (1) 1 And absolute angle of the first rotation axis (1) in the range of [0,360 DEG N ] multiple turns
The specific mode of (a) is as follows:
the signal processing system processes multipole induction signals output by the induction coil on the first fan-shaped fixed head (41) and monopole induction signals output by the induction coil on the first circular-shaped fixed head (42) to obtain absolute angle theta of the first rotating shaft (1) within a single-circle range of [0,360 DEG ] 1 ；
The signal processing system processes multipole induction signals output by the induction coil on the second fan-shaped fixed head (51) and unipolar induction signals output by the induction coil on the second circular-shaped fixed head (52) to obtain absolute angle theta of the third rotating shaft (3) within a single-circle range of [0,360 DEG ] 4 ；
The signal processing system uses the formula:
calculating the number of turns n of the first rotating shaft (1) 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein Floor () represents a downward rounding operation, Δθ 'represents a first angle difference, Δθ' =θ 1 -θ 4 K' represents a first peripheral angle, and,
/>
the signal processing system uses the formula:
calculating the absolute angle +_of the first rotation axis (1) in the range of [0,360 DEG x N) multiple turns>
4. A mechanical multi-turn absolute time gate encoder according to claim 2 or 3, characterized in that:
the signal processing system processes multipole induction signals output by the induction coils on the first fan-shaped fixed head (41) to obtain a precise measurement angle measurement value beta' when the first rotating shaft (1) rotates to a certain position;
the signal processing system processes the monopole induction signal output by the induction coil on the first annular fixed head (42) to obtain a rough measurement angle measurement value beta 'when the first rotating shaft (1) rotates to a certain position' 0 ；
The signal processing system uses the formula:
calculating the absolute angle theta of the first rotating shaft (1) in the single-circle range of [0,360 DEG ] 1 ；
The signal processing system processes multipole induction signals output by the induction coils on the second fan-shaped fixed head (51) to obtain a precise measurement angle measurement value beta', when the third rotating shaft (3) rotates to a certain position;
the signal processing system processes the monopole induction signal output by the induction coil on the second annular fixed head (52) to obtain a rough measurement angle measurement value beta' when the third rotating shaft (3) rotates to a certain position 0 ；
The signal processing system uses the formula:
calculating the absolute angle theta of the third rotating shaft (3) within the single-circle range of [0,360 DEG ] 4 。/>
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