CN113701790A - Encoder and servo system - Google Patents
Encoder and servo system Download PDFInfo
- Publication number
- CN113701790A CN113701790A CN202111090017.7A CN202111090017A CN113701790A CN 113701790 A CN113701790 A CN 113701790A CN 202111090017 A CN202111090017 A CN 202111090017A CN 113701790 A CN113701790 A CN 113701790A
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- magnetic
- encoder
- magnetic pole
- mounting plate
- rotor disc
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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
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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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
Abstract
The invention discloses an encoder and a servo system, wherein the encoder comprises a stator assembly and a rotor assembly, the stator assembly comprises a mounting plate and a circuit board mounted to one side surface of the mounting plate, and the circuit board is provided with a plurality of magnetic sensors distributed along the circumferential direction; the rotor assembly comprises a rotor disc which is coaxially arranged with the mounting plate, the rotor disc is positioned on one side of the mounting plate in the axial direction, the rotor disc can rotate relative to the mounting plate, and a plurality of magnetic pole parts which are distributed along the circumferential direction are arranged on the side surface, corresponding to the circuit board, of the rotor disc; wherein a plurality of the magnetic sensors are used for generating sensing signals by sensing magnetic field changes. The magnetic sensor and the magnetic pole part form an axial air gap, and the magnetic sensor is directly mounted on the circuit board and is attached to the circuit board, so that the size of the magnetic sensor is smaller than that of an existing plug-in type magnetic sensor, the axial height of the air gap is smaller, and the magnetic sensor is downward compatible with a small servo motor.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to an encoder and a servo system.
Background
In the field of industrial control, an encoder is taken as the most important component of a servo motor and is widely applied to the fields of motor rotating speed measurement, control of precise instruments and the like, in the fields, the absolute position of a rotating shaft is an important control parameter, so that accurate measurement of the rotating shaft needs to be realized, and the magnetic field detection structure commonly used in the market at present is high in axial height and is not beneficial to compatibility of small servo motors.
Disclosure of Invention
The invention mainly aims to provide an encoder and a servo system, which can effectively reduce the axial height of a magnetic encoder on the basis of high performance and are beneficial to the compatibility of a small servo motor.
To achieve the above object, the present invention provides an encoder, comprising:
the stator assembly comprises a mounting plate and a circuit board mounted on one side surface of the mounting plate, wherein the circuit board is provided with a plurality of magnetic sensors distributed along the circumferential direction; and the number of the first and second groups,
the rotor assembly comprises a rotor disc which is coaxially arranged with the mounting plate, the rotor disc is positioned on one side of the mounting plate in the axial direction, the rotor disc can rotate relative to the mounting plate, and a plurality of magnetic pole parts which are distributed along the circumferential direction are arranged on the side surface, corresponding to the circuit board, of the rotor disc;
wherein a plurality of the magnetic sensors are used for generating sensing signals by sensing magnetic field changes.
Optionally, at least some of the magnetic pole parts have different length dimensions in the circumferential direction; alternatively, the first and second electrodes may be,
the magnetic pole portions have the same length in the circumferential direction.
Optionally, a plurality of magnetic sensors are distributed along a first circumferential track on the circuit board;
a plurality of said pole parts distributed along a second circumferential trajectory on said rotor disc;
the first circumferential track and the second circumferential track are concentrically arranged and have the same diameter.
Optionally, the diameter of each magnetic sensor along the circumference is D, wherein D is less than or equal to 30 mm.
Optionally, a plurality of positioning grooves are concavely formed on the peripheral side surface of the circuit board;
the side edge of the mounting plate is correspondingly provided with a plurality of positioning columns, and each positioning column penetrates through each positioning groove.
Optionally, the plurality of magnetic pole portions include a plurality of first magnetic pole portions and a plurality of second magnetic pole portions alternately arranged in the circumferential direction, and polarities of the first magnetic pole portions and the second magnetic pole portions are opposite.
Optionally, the rotor disc has a plurality of magnetic tiles arranged at intervals along the circumferential direction, and each of the magnetic tiles is formed with one of the first magnetic pole portion and the second magnetic pole portion; alternatively, the first and second electrodes may be,
the rotor disc is provided with a magnetic ring, and a plurality of magnetic areas distributed along the circumferential direction of the rotor disc are formed on the magnetic ring so as to form a plurality of first magnetic pole parts and a plurality of second magnetic pole parts.
Optionally, the material of each magnetic shoe is one or more of ferrite, neodymium iron boron, and plastic magnet.
Optionally, the encoder further comprises a housing, wherein the housing is a cylindrical structure;
the mounting plate is arranged in the shell and is abutted against the inner wall surface of the shell;
the rotor disc is arranged in the shell and is in clearance fit with the inner wall surface of the shell.
Optionally, the magnetic sensor is a hall sensor.
The present invention further provides a servo system, including:
an encoder; and the number of the first and second groups,
a motor having a rotor fixed to a middle portion of the rotor disk in the encoder.
In the technical scheme of the invention, the mounting plate and the rotor disc are coaxially mounted and can relatively rotate, the magnetic sensor and the magnetic pole part are axially parallel and opposite to each other to form an axial air gap, the magnetic sensor is directly mounted on the circuit board and is attached to the circuit board, compared with the existing plug-in type magnetic sensor, the volume of the magnetic sensor is smaller, the height of the magnetic sensor on the circuit board is similar to that of other components on the circuit board, the axial height of the air gap is smaller, and therefore, the purpose of controlling the height precision of the servo motor is realized, in addition, the magnetic sensor detects the magnetic field distribution of the magnetic pole part in real time, so that the real-time position of a motor rotor connected with the rotor disc is determined, the precision is high, the volume is small, and the magnetic sensor can be downward compatible with a small-sized servo motor.
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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective exploded view of an encoder according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of the encoder of FIG. 1 in cooperation with a motor;
FIG. 3 is a schematic view of the magnetic shoe of FIG. 1;
FIG. 4 is a schematic view of the magnet ring of FIG. 1;
fig. 5 is an exploded view of the circuit board and mounting board of fig. 1 in mating relationship.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Encoder for encoding a |
21 | Rotor disc |
| 1 | |
21a | |
| 11 | |
22 | |
| 111 | |
23 | |
| 12 | |
3 | |
| 121 | Locating |
4 | |
| 13 | |
5 | Fastening piece |
| 2 | |
200 | Rotor of electric machine |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
There are two types of encoders in wide use, namely, an optical encoder and a magnetic encoder. The optical coding technology generally has the defect of poor anti-interference capability on factors such as oil stains, strong light stains, leakage and the like, the measurement precision is influenced, and the cost of the optical encoder is higher. Compared with the optical encoder, the rotary magnetic encoder is not influenced by the factors, has higher resolution and good stability, can completely eliminate various bad faults caused by the photoelectric technology, and becomes an encoding technology capable of replacing the photoelectric encoding. However, magnetic encoders with effective accuracy of more than 17 bits on the market are all radial magnetic field detection structures, the axial height of the magnetic encoders with the structures is high, and most of the magnetic encoders can only be downward compatible with a servo motor with the height of 60mm by 60 mm.
In view of this, the invention provides an encoder and a servo system, which have the advantages of high precision, high utilization rate of axial space, small volume, low cost, stable structural performance and the like. Fig. 1 to 5 are diagrams illustrating an embodiment of an encoder according to the present invention.
Referring to fig. 1 to 2, an encoder 100 includes a stator assembly and a rotor assembly, the stator assembly includes a mounting plate 11 and a circuit board 12 mounted to a side surface of the mounting plate 11, and the circuit board 12 is provided with a plurality of magnetic sensors 13 distributed along a circumferential direction; the rotor assembly comprises a rotor disc 21 coaxially arranged with the mounting plate 11, the rotor disc 21 is positioned at one side of the mounting plate 11 along the axial direction, the rotor disc 21 can rotate relative to the mounting plate 11, and the side surface of the rotor disc 21 corresponding to the circuit board 12 is provided with a plurality of magnetic pole parts 21a distributed along the circumferential direction; wherein a plurality of the magnetic sensors 13 are used for generating sensing signals by sensing magnetic field changes.
In the technical scheme of the invention, the mounting plate 11 and the rotor disc 21 are coaxially mounted and can relatively rotate, the magnetic sensor 13 and the magnetic pole part 21a are axially parallel and opposite to each other to form an axial air gap, the magnetic sensor 13 is directly mounted on the circuit board 12 and is attached to the circuit board 12, compared with the existing plug-in type magnetic sensor 13, the size of the magnetic sensor is smaller, the height of the magnetic sensor 13 on the circuit board 12 is similar to the height of other components on the circuit board 12, the axial height of the air gap is smaller, and therefore the purpose of controlling the height precision of the servo motor is achieved, and the magnetic sensor 13 detects the magnetic field distribution of the magnetic pole part 21a in real time, so that the real-time position of the motor rotor connected with the rotor disc 21 is determined, the precision is high, the volume is small, and the magnetic sensor is downward compatible with a small-sized servo motor.
Further, the present invention does not limit the arrangement manner among the plurality of magnetic pole portions 21a, and in an embodiment, referring to fig., at least a portion of the magnetic pole portions 21a have different length dimensions along the circumferential direction, that is, the length of the corresponding portion of the magnetic pole portions 21a on the circumference formed by the magnetic pole portions 21a being arranged on the rotor disc 21 together is different, so as to ensure that the coverage areas of the portion of the magnetic pole portions 21a on the circumference relative to the rotor disc 21 are different. In other embodiments, the magnetic pole portions 21a have the same length in the circumferential direction. It should be noted that, the two different magnetic pole portions 21a are arranged in a manner that a magnetic field is generated when the rotor disc 21 rotates relative to the stator disc, the magnitude and direction of the generated magnetic field are measured and converted into an electric signal by the magnetic sensor 13 in the process of cutting the magnetic induction lines, the relative rotation angle between the stator disc and the rotor disc 21 is calculated, and the corresponding position of the motor rotor is determined.
In order to ensure a good fit between the plurality of magnetic sensors 13 and the plurality of magnetic pole portions 21a, the plurality of magnetic sensors 13 are distributed along a first circumferential track on the circuit board 12; a plurality of said magnetic pole portions 21a are distributed along a second circumferential trajectory on said rotor disc 21; the first circumferential track and the second circumferential track are concentrically arranged and have the same diameter. That is, the plurality of magnetic sensors 13 and the plurality of magnetic pole portions 21a are distributed on the circumference having the same size, so that a positive correspondence is achieved, and a correspondence state of the magnetic sensors 13 and the magnetic pole portions 21a in the axial direction is ensured, and accordingly, since the sizes of the magnetic sensors 13 and the magnetic pole portions 21a are different, the outermost circumference of the magnetic sensors 13 and the outermost circumference of the magnetic pole portions 21a may be different in structure.
Furthermore, in one embodiment, the diameter of each magnetic sensor 13 along the circumference is D, wherein D is less than or equal to 30 mm. Namely, the maximum diameter of the corresponding magnetic sensor 13 does not exceed 30mm, so that the design with small volume and low cost is realized, and the servo motor can be compatibly matched with 40mm by 40 mm.
In this embodiment, the plurality of magnetic pole portions 21a include a plurality of first magnetic pole portions and a plurality of second magnetic pole portions alternately arranged in the circumferential direction, and the polarities of the first magnetic pole portions and the second magnetic pole portions are opposite to each other. That is, one of the first magnetic pole portion and the second magnetic pole portion is an N pole, the other is an S pole, the N pole and the S pole are alternately arranged on the circumference of the rotor disc 21, and the magnetic sensor 13 outputs a rectangular wave signal, thereby accurately sensing the state.
In an embodiment, referring to fig. 3, the rotor disc 21 has a plurality of magnetic shoes 22 arranged at intervals along the circumferential direction, and each of the magnetic shoes 22 is respectively formed with one of the first magnetic pole portion and the second magnetic pole portion, at this time, the magnetic shoes 22 are respectively magnetized with N poles or S poles, so as to obtain a plurality of magnetic pole portions 21a with alternating magnetism, at this time, gaps exist between the magnetic shoes 22, and the whole structure is assembled by separately magnetizing each of the magnetic shoes 22 and then splicing, so that the processing is convenient, and the precision requirement is reduced.
It should be noted that, each of the magnetic tiles 22 is magnetized along the axial direction, and ideally, the distance between the magnetic tiles 22 is the same, and this setting is to obtain a good effect based on the arrangement of the plurality of magnetic tiles 22, so that a certain gap exists between the magnetic tiles 22, but in actual engineering practice, in order to compensate for the distortion of the magnetic field, the distance between the magnetic tiles 22 may be adjusted and may be different.
When the magnetic shoe 22 is composed of a plurality of magnetic shoes 22, the magnetic shoes 22 may have the same size or may have different sizes at least in part.
Further, in this embodiment, there are 8 magnetic shoes 22, which are uniformly distributed along the same circumference.
Based on the above embodiment, the material of each magnetic shoe 22 is one or more of ferrite, neodymium iron boron, and plastic magnet, so that the magnetic shoe 22 has the advantages of convenient magnetization and good magnetic induction performance.
In order to form a plurality of magnetic pole portions 21a, in another embodiment, referring to fig. 1 and fig. 4, the rotor disc 21 has a magnetic ring 23, and a plurality of magnetic regions distributed along a circumferential direction of the rotor disc 21 are formed on the magnetic ring 23 to form a plurality of first magnetic pole portions and a plurality of second magnetic pole portions. That is, the plurality of first magnetic pole portions and the plurality of second magnetic pole portions are located on the magnetic lifting ring 23 and are continuously provided in the circumferential direction. In this configuration, the magnetic ring 23 is magnetized in the axial direction, and the magnetic sensor 13 detects the magnitude and direction of the magnetic field in the axial direction to calculate the position.
It should be noted that the material of each magnetic ring 23 is one or more of ferrite, neodymium iron boron, and plastic magnet, so that the magnetic ring 23 has the advantages of convenient magnetization and good magnetic induction performance.
Furthermore, an annular limiting protrusion is convexly arranged on the end face, facing the mounting plate, of the rotor disc 21, and the outer side face of the magnetic ring 23 or the plurality of magnetic shoes 22 abuts against the inner wall face of the annular limiting protrusion, so that the magnetic ring is convenient to guide during installation.
In another embodiment, the rotor disc 211 has a plurality of magnetic blocks arranged at intervals along the circumferential direction, and each of the magnetic blocks forms the first magnetic pole portion and the second magnetic pole portion at two ends of the rotor disc 211 in the circumferential direction. Each of the magnetic blocks may be understood as a magnet having N and S poles. By the arrangement, the plurality of magnetic blocks can be respectively magnetized to obtain the corresponding first magnetic pole parts and the corresponding second magnetic pole parts, so that the magnetizing is more convenient compared with the arrangement mode of the magnetic ring 23, and the processing difficulty is reduced.
Further, in this embodiment, the magnetic ring 23 has 4 pairs of magnetic poles.
In other embodiments, the magnetic properties of the plurality of magnetic pole portions 21a may be the same, and the plurality of magnetic pole portions 21a are arranged at intervals, that is, the magnetic pole distribution on the whole circumference is a single magnetic pole, and the polarity of each magnetic pole portion 21a is an N pole or an S pole. Compared with the mode of arranging two magnetic poles, the method can be understood that the corresponding S pole or N pole is subjected to the blank processing, and the length of the blank position, namely the length of the corresponding magnetic pole part 21a, so that the overall principle of magnetic induction and position decoding performed by the magnetic sensor 13 is not influenced, and the material is saved. In this configuration, the single magnetic pole is arranged in such a manner that there is no absolute zero-crossing of the magnetic field after the magnetic field is formed, and therefore, the signal processing is different, and will not be described in detail.
It should be noted that, in the present invention, patch-type magnetic sensors 13 are used for cooperation, the number of the magnetic sensors 13 is 6 or more, and the position of the motor rotor is determined by detecting the magnetic field distribution of the magnetic shoe 22 in real time, so as to achieve an effective accuracy of the encoder 100 of more than 17 bit.
Further, the present invention is not limited to the specific type of the magnetic sensor 13, as long as electromagnetic signal conversion can be achieved, and specifically, in this embodiment, the magnetic sensor 13 is a hall sensor, and a plurality of hall sensors are uniformly distributed along the circumferential direction. The hall sensor is a magnetic field sensor manufactured by the hall effect, and is widely used in industrial automation technology, detection technology, information processing and the like. The Hall coefficient measured by a Hall effect experiment can be used for judging important parameters of the semiconductor material, such as the conductivity type, the carrier concentration, the carrier mobility and the like.
In an embodiment of the present invention, referring to fig. 2, the encoder 100 further includes a housing 3, the housing 3 is a cylindrical structure, the mounting plate 11 is disposed in the housing 3 and abuts against an inner wall surface of the housing 3, and the rotor disc 21 is disposed in the housing 3 and is in clearance fit with the inner wall surface of the housing 3. In this way, it is ensured that the mounting plate 11 remains fixed relative to the casing 3 as a stator disc, the mounting frame can be fixed to the inner circumference of the casing by interference or by gluing, and the rotor disc 21 has a certain clearance with the casing 3 so that the rotor disc 21 rotates relative to the corresponding electronic rotor in the casing 3 in synchronism with the rotation of the electronic rotor.
Further, the maximum diameter of the cylindrical shell 3 is not more than 37mm, so as to meet the requirement of small volume, and the cylindrical shell is more preferable and can be downward compatible to a 40 mm-40 mm servo motor.
In order to facilitate the positioning and installation between the circuit board 12 and the installation plate 11, referring to fig. 5, a plurality of positioning grooves 121 are concavely formed on the peripheral side surface of the circuit board 12; a plurality of positioning posts 111 are correspondingly disposed on the side edge of the mounting plate 11, and each positioning post 111 is inserted into each positioning groove 121. Specifically, in this embodiment, the positioning grooves 121 and the positioning posts 111 are arranged in three groups in a one-to-one correspondence manner, and are uniformly distributed along the circumferential direction, so as to achieve a good positioning effect.
Specifically, an annular circular truncated cone is convexly arranged on the inner wall surface of the cylindrical shell 3, the end part of each positioning column 111 is in butt fit with the upper end surface of the circular truncated cone, meanwhile, the encoder 100 is further provided with an end cover 4, the end cover 4 covers the upper end surface of the shell 3 to seal the shell 3, and the lower end surface of the shell 3 is in butt fit with the corresponding part in the servo motor.
In other embodiments, the circuit board 12 can be fixed on the mounting plate 11 by means of a snap, glue or screw connection, which will not be described in detail herein
In addition, in the present embodiment, the mounting plate 11 is an annular plate, which has a small volume and is convenient for the wiring to pass through, and will not be described in detail herein.
The present invention further provides a servo system, including the encoder 100, where the servo system includes all technical features of the encoder 100, and therefore, the servo system also has technical effects brought by all the technical features, and details are not repeated herein. Specifically, the servo system further includes a motor, and a rotor 200 of the motor is fixed to a middle portion of the rotor disc 21 in the encoder 100. The encoder 100 is covered on the housing 3 of the motor.
Specifically, the end face of the middle part of the rotor disc 21, which is away from the mounting plate 11, is convexly provided with a positioning groove, the rotor 200 of the motor is inserted, and meanwhile, the fastening piece 5 penetrates through the middle part of the rotor disc 21 and is inserted into the rotor 200 of the motor to ensure stable connection, in this embodiment, the fastening piece 5 is a bolt and is mounted on the rotor 200 of the motor in a thread fixing manner.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. An encoder, comprising:
the stator assembly comprises a mounting plate and a circuit board mounted on one side surface of the mounting plate, wherein the circuit board is provided with a plurality of magnetic sensors distributed along the circumferential direction; and the number of the first and second groups,
the rotor assembly comprises a rotor disc which is coaxially arranged with the mounting plate, the rotor disc is positioned on one side of the mounting plate in the axial direction, the rotor disc can rotate relative to the mounting plate, and a plurality of magnetic pole parts which are distributed along the circumferential direction are arranged on the side surface, corresponding to the circuit board, of the rotor disc;
wherein a plurality of the magnetic sensors are used for generating sensing signals by sensing magnetic field changes.
2. The encoder of claim 1, wherein at least some of the magnetic pole portions differ in length dimension in a circumferential direction; alternatively, the first and second electrodes may be,
the magnetic pole portions have the same length in the circumferential direction.
3. The encoder of claim 1, wherein a plurality of the magnetic sensors are distributed along a first circumferential track on the circuit board;
a plurality of said pole parts distributed along a second circumferential trajectory on said rotor disc;
the first circumferential track and the second circumferential track are concentrically arranged and have the same diameter.
4. The encoder of claim 1, wherein each of the magnetic sensors has a diameter D along its circumference, wherein D is ≦ 30 mm.
5. The encoder according to claim 1, wherein a plurality of positioning grooves are concavely formed on the peripheral side surface of the circuit board;
the side edge of the mounting plate is correspondingly provided with a plurality of positioning columns, and each positioning column penetrates through each positioning groove.
6. The encoder according to claim 1, wherein the plurality of magnetic pole portions include a plurality of first magnetic pole portions and a plurality of second magnetic pole portions alternately arranged in a circumferential direction, and polarities of the respective first magnetic pole portions and the respective second magnetic pole portions are opposite.
7. The encoder according to claim 6, wherein the rotor disc has a plurality of magnetic tiles arranged at intervals in the circumferential direction, and each of the magnetic tiles has a first magnetic pole portion or a second magnetic pole portion formed thereon; alternatively, the first and second electrodes may be,
the rotor disc is provided with a magnetic ring, and a plurality of magnetic areas distributed along the circumferential direction of the rotor disc are formed on the magnetic ring so as to form a plurality of first magnetic pole parts and a plurality of second magnetic pole parts.
8. The encoder as claimed in claim 7, wherein each of the magnetic tiles is made of one or more of ferrite, neodymium iron boron and plastic magnet.
9. The encoder of claim 1, further comprising a housing, the housing being a cylindrical structure;
the mounting plate is arranged in the shell and is abutted against the inner wall surface of the shell;
the rotor disc is arranged in the shell and is in clearance fit with the inner wall surface of the shell.
10. The encoder of claim 1, wherein the magnetic sensor is a hall sensor.
11. A servo system, comprising:
an encoder as claimed in any one of claims 1 to 10; and the number of the first and second groups,
a motor having a rotor fixed to a middle portion of the rotor disk in the encoder.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111090017.7A CN113701790A (en) | 2021-09-16 | 2021-09-16 | Encoder and servo system |
| PCT/CN2022/079050 WO2023040209A1 (en) | 2021-09-16 | 2022-03-03 | Encoder and servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111090017.7A CN113701790A (en) | 2021-09-16 | 2021-09-16 | Encoder and servo system |
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| Publication Number | Publication Date |
|---|---|
| CN113701790A true CN113701790A (en) | 2021-11-26 |
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ID=78661454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111090017.7A Pending CN113701790A (en) | 2021-09-16 | 2021-09-16 | Encoder and servo system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023040209A1 (en) * | 2021-09-16 | 2023-03-23 | 美的威灵电机技术（上海）有限公司 | Encoder and servo system |
| WO2023245628A1 (en) * | 2022-06-24 | 2023-12-28 | 威刚科技股份有限公司 | Motor |
-
2021
- 2021-09-16 CN CN202111090017.7A patent/CN113701790A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023040209A1 (en) * | 2021-09-16 | 2023-03-23 | 美的威灵电机技术（上海）有限公司 | Encoder and servo system |
| WO2023245628A1 (en) * | 2022-06-24 | 2023-12-28 | 威刚科技股份有限公司 | Motor |
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