CN114061633A - Multi-turn absolute value magnetic encoder with power-off memory function and acquisition method - Google Patents
Multi-turn absolute value magnetic encoder with power-off memory function and acquisition method Download PDFInfo
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- CN114061633A CN114061633A CN202111366004.8A CN202111366004A CN114061633A CN 114061633 A CN114061633 A CN 114061633A CN 202111366004 A CN202111366004 A CN 202111366004A CN 114061633 A CN114061633 A CN 114061633A
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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
- G01D5/245—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 a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
- G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
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Abstract
The invention discloses a multi-turn absolute value magnetic encoder with a power-off memory function, wherein a permanent magnet is arranged at the tail end of a rotating shaft of the multi-turn absolute value magnetic encoder, a magnetic induction element for detecting the rotating angle of the permanent magnet is arranged at a position, corresponding to the permanent magnet, on a circuit board of the multi-turn absolute value magnetic encoder, an angle induction sensor group for detecting the rotating angle of the permanent magnet after power-off is arranged around the magnetic induction element, the angle induction sensor group and the magnetic induction element are respectively connected to a processor which is positioned on the circuit board and used for reading and storing the rotating turns of the rotating shaft, an internal power supply unit is arranged on the circuit board, and the internal power supply unit is respectively connected with the processor and the angle induction sensor group and supplies power to the processor and the angle induction sensor group. This product greatly reduced processing degree of difficulty and manufacturing cost fall the electricity and do not lose "number of turns", and the number of turns value is unrestricted, and the absolute value is rotated in the record of assurance electronic simulation machinery intelligence data reading and storage mechanism, is convenient for realize the low-power consumption operation in coordination with data acquisition device, the real-time effectual assurance of data.
Description
Technical Field
The invention relates to an encoder, in particular to a multi-turn absolute value magnetic encoder with a power-off memory function and an acquisition method.
Background
The existing magnetic encoder adopts a magnetoelectric design, generates and provides an absolute position of a rotor by a magnetic induction device and the change of a magnetic field, utilizes the magnetic device to replace a traditional code wheel, makes up for some defects of the photoelectric encoder, and has better shock resistance, corrosion resistance, pollution resistance, reliable and high performance and simpler structure.
The magnetic encoder can be divided into an incremental magnetic encoder and an absolute value magnetic encoder according to whether the number of turns is reset after power failure. Absolute value magnetic encoders can remember the absolute position, angle and number of turns of the device. Namely once the position, the angle and the number of turns are fixed, the indicated value of the encoder is only fixed at any time, including powering up after power failure. The incremental encoder cannot do this, and a general incremental encoder outputs two A, B pulse signals and a Z (L) zero position signal, A, B pulses are 90 degrees out of phase, the position is known through pulse counting, the angle and the number of turns are continuously increased, the forward and reverse rotation is known through A, B pulse signal lead or lag, and after power failure, counting must be restarted from a conventional reference. Therefore, when the incremental encoder measures the position, the angle and the number of turns, post-processing is needed, and the 'zero resetting' operation is needed when the incremental encoder is electrified again.
The absolute value magnetic encoder can be divided into a single-turn absolute value magnetic encoder and a multi-turn absolute value magnetic encoder according to the recorded turns. The single-turn absolute value magnetic encoder is characterized in that when the rotation exceeds 360 degrees, the encoding returns to the original point, so that the principle that the absolute encoding is unique is not met, and the encoder can only be used for measurement within 360 degrees of a rotation range and is called as a single-turn absolute value magnetic encoder. If the rotation is measured over a 360 range, multiple turns of absolute value magnetic encoders are used.
The principle of clock gear machinery is applied in China, when a central gear rotates, another group of gears (or a plurality of groups of gears) are driven, and the number of turns of codes is increased on the basis of single-turn codes so as to enlarge the measuring range of the encoder.
Therefore, the multi-turn encoder has another advantage that the actual use is often abundant due to the large measurement range, so that the zero point does not need to be found with great effort during installation, a certain middle position is taken as a starting point, and the installation and debugging difficulty is greatly simplified. The advantage of the multi-turn absolute encoder in length positioning is obvious, and the multi-turn absolute encoder is increasingly applied to industrial positioning.
But the defects in the prior absolute value magnetic encoder product are as follows: the product with the mechanical structure recording the number of turns is limited by the number of gear groups, has the upper limit of the number of turns, and has high manufacturing cost and high use cost; the number of turns of a product of electronic simulation machinery is recorded and cleared after power failure, real multi-turn absolute value measurement cannot be realized, if the measurement requirement of the multi-turn absolute value is to be realized, the power failure of an encoder cannot be realized, the monitoring purpose cannot be realized, and the requirements of energy conservation and consumption reduction can be met. If an internal battery is used for supplying power, circuits such as an internal microcontroller unit and a magnetic sensitive chip are always in a power consumption state because the sensor is kept to record the rotating degree at any time, and the internal battery is consumed quickly after an external power supply is disconnected, so that products which use the battery for supplying power and record the number of rotating turns after power failure are rare.
Disclosure of Invention
In order to solve the defects of the technology, the invention provides a multi-turn absolute value magnetic encoder with a power-off memory function and an acquisition method.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a many circles of absolute value magnetic encoder with outage memory function, the end of many circles of absolute value magnetic encoder's rotation axis is provided with the permanent magnet, the position department that corresponds the permanent magnet on many circles of absolute value magnetic encoder's the circuit board is provided with the magnetic induction component who detects permanent magnet turned angle, be provided with the angle induction sensor group who detects permanent magnet turned angle after the outage around the magnetic induction component, angle induction sensor group, magnetic induction component connects respectively on the treater that is located reading and storage rotation axis number of revolutions on the circuit board, be provided with inside power supply unit on the circuit board, inside power supply unit connects treater and angle induction sensor group respectively and supplies power for the two.
Furthermore, the magnetic induction element is a magnetic encoder chip, the angle induction sensor group comprises four Hall sensors, and the four Hall sensors are arranged around the magnetic encoder chip in a cross shape.
Further, the processor is a microcontroller unit, the internal power supply unit comprises an internal battery and a power management circuit which are connected with each other, the internal battery is respectively connected with the microcontroller unit and the Hall sensor in the circuit board, the power management circuit is respectively connected with the microcontroller unit and the magnetic encoder chip in the circuit board, the power management circuit is connected with an external power supply outside the circuit board, the microcontroller unit is connected with a communication interface circuit in the circuit board, the communication interface circuit is connected with a master control acquisition controller unit outside the circuit board, and the master control acquisition controller unit is connected with the external power supply.
Furthermore, the multi-turn absolute value magnetic encoder comprises a base, a bearing is embedded in a middle hole of the base, a rotating shaft penetrates through the bearing, and the upper end of the rotating shaft protrudes out of the upper surface of the base and is upwards connected with a radial magnet; the base top is connected with the magnetic encoder shell, and the circuit board setting is in the inside of magnetic encoder shell, and the circuit board is located radial magnet's top, and hall sensor sets up and is close to radial magnet one side on the circuit board, and microcontroller unit, internal battery, power management circuit and communication interface circuit set up and keep away from radial magnet one side on the circuit board.
Further, the upper end of the rotating shaft is connected with a magnet sleeve, and the radial magnet is arranged in the magnet sleeve.
Furthermore, the base is provided with at least two screws for fixing the circuit board, and the circuit board is connected to the upper ends of the screws.
A method for acquiring a multi-turn absolute value magnetic encoder with power-off memory function,
under the state of external power supply:
the magnetic encoder chip is connected with an external power supply through a power supply management circuit to keep a continuous power-on state, and the rotation angle or the measured displacement number of a rotating shaft of the magnetic encoder is recorded at any time, wherein the state is a normal working state;
secondly, in the power-off state of the external power supply:
under the condition that a rotating shaft of the magnetic encoder does not rotate, an internal battery supplies power to a Hall sensor, the Hall sensor stands by with extremely low power consumption, and a microcontroller unit is in a shutdown state;
when a rotating shaft of the magnetic encoder rotates within 90 degrees, an internal battery supplies power to the Hall sensor, the Hall sensor still stands by with extremely low power consumption, the rotating angle of the rotating shaft is less than 90 degrees, the microcontroller unit is not waken up, and the microcontroller unit is still in a shutdown state; when the power supply state of the external power supply is switched, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the turn number value of a register on the microcontroller unit, and the turn number value is zero and indicates that the current single-turn absolute value number is in a single-turn range;
when the rotation of the rotating shaft of the magnetic encoder exceeds 90 degrees, the Hall sensor wakes up the microcontroller unit, the microcontroller unit reads and stores the current single-turn absolute value, records the accumulated rotating angle value, and enters a shutdown state again after a plurality of times; when the rotating shaft of the magnetic encoder rotates 360 degrees, the controller unit stores the number of turns in the register, the number of the register is increased by one every time the number of turns is increased, the rotating shaft of the magnetic encoder rotates in the reverse direction for one turn, and the data of the register is decreased by one; when the power supply state of the external power supply is switched to, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the current number of turns of the register, and sends the current single-turn absolute value number and the current number of turns of the register to the main control acquisition controller unit through the communication interface circuit;
and thirdly, adding external power after the external power supply is powered off:
according to the first and second data reading and storing mechanisms, the angle and the number of the single-turn absolute value of the encoder are read out whenever external power is added again, and the number of the multi-turn absolute value is obtained;
initializing before use:
before use or before leaving factory, one initialization is needed, the current angle is set to zero, and on the basis, the change of the absolute value is automatically recorded.
The invention discloses a multi-turn absolute value magnetic encoder with a power-off memory function and an acquisition method, compared with the prior art, the invention has the following advantages:
(1) the electronic simulation machine greatly reduces the processing difficulty and the production cost.
(2) Compared with other electronic analog machines at present, the power failure does not lose the number of turns.
(3) Compared with the mechanical mode, the number of turns is not limited.
(4) An intelligent data reading and storing mechanism ensures that the electronic analog machine records the absolute value of rotation.
(5) The low-power-consumption operation of the cooperative data acquisition device is facilitated.
(6) And data is effectively guaranteed in real time.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an electrical schematic block diagram of the present invention.
In the figure: 1. a magnetic encoder chip; 2. a Hall sensor; 3. a microcontroller unit; 4. an internal battery; 5. a power management circuit; 6. a circuit board; 7. an external power supply; 8. a communication interface circuit; 9. a master acquisition controller unit; 10. a base; 11. a bearing; 12. a rotating shaft; 13. a radial magnet; 14. a magnetic encoder housing; 15. a magnet sleeve; 16. and (4) screws.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the multi-turn absolute value magnetic encoder with power-off memory function is provided with a permanent magnet at the tail end of a rotating shaft of the multi-turn absolute value magnetic encoder, a magnetic induction element for detecting the rotating angle of the permanent magnet is arranged at a position corresponding to the permanent magnet on a circuit board of the multi-turn absolute value magnetic encoder, an angle induction sensor group for detecting the rotating angle of the permanent magnet after power-off is arranged around the magnetic induction element, the angle induction sensor group and the magnetic induction element are respectively connected to a processor which is positioned on the circuit board and used for reading and storing the rotating number of turns of the rotating shaft, an internal power supply unit is arranged on the circuit board, and the internal power supply unit is respectively connected with the processor and the angle induction sensor group and supplies power to the processor and the angle induction sensor group.
Specifically, as shown in fig. 2, the magnetic induction element is a magnetic encoder chip 1, the angular induction sensor group includes four hall sensors 2, and the four hall sensors 2 are arranged around the magnetic encoder chip 1 in a cross shape. The processor is a microcontroller unit 3, the internal power supply unit comprises an internal battery 4 and a power management circuit 5 which are connected with each other, the internal battery 4 is respectively connected with the microcontroller unit 3 and the Hall sensor 2 in the circuit board 6, the power management circuit 5 is respectively connected with the microcontroller unit 3 and the magnetic encoder chip 1 in the circuit board 6, the power management circuit 5 is connected with an external power supply 7 outside the circuit board 6, the microcontroller unit 3 is connected with a communication interface circuit 8 inside the circuit board 6, the communication interface circuit 8 is connected with a main control acquisition controller unit 9 outside the circuit board 6, and the main control acquisition controller unit 9 is connected with the external power supply 7.
As shown in fig. 1, the multi-turn absolute value magnetic encoder includes a base 10, a bearing 11 is embedded in a middle hole of the base 10, a rotating shaft 12 is inserted in the bearing 11, an upper end of the rotating shaft 12 protrudes out of an upper surface of the base 10 and is upwardly connected with a radial magnet 13, an upper end of the rotating shaft 12 is connected with a magnet sleeve 15, and the radial magnet 13 is disposed in the magnet sleeve 15. The base 10 top is connected with magnetic encoder shell 14, and circuit board 6 sets up the inside at magnetic encoder shell 14, is provided with two at least screws 16 that are used for fixed circuit board 6 on the base 10, and circuit board 6 connects in the upper end of screw 16. The circuit board 6 is located above the radial magnet 13, the hall sensor 2 is disposed on the circuit board 6 on the side close to the radial magnet 13, and the microcontroller unit 3, the internal battery 4, the power management circuit 5, and the communication interface circuit 8 are disposed on the circuit board 6 on the side away from the radial magnet 13.
The above-mentioned structures are all commercially available products and the circuits mentioned are all prior art.
Firstly, the magnetic encoder chip with the sensing capability of the magnetic encoder chip to the radial magnet realizes the measurement of the rotating angle of the rotating shaft of the magnetic encoder, when the rotating shaft of the encoder rotates, the radial magnet at one end of the rotating shaft can be driven to rotate, and the rotation is read by the magnetic encoder chip with the magnetic sensing capability, so that the rotating angle value can be read at any time within a single-circle range, and then, the intelligent electronic absolute value magnetic encoder provided by the invention realizes the technical scheme of the invention through the following technical means on the basis of the basic functions:
(1) and a standby battery is used, so that the encoder still has certain sensing capability under the condition of power failure.
(2) The Hall sensor with extremely low power consumption is used for monitoring the rotation angle of the encoder when the encoder is in sleep.
The Hall sensors are fixed on the circuit board by utilizing the induction of the Hall sensors to magnetic poles, the Hall sensors are properly spaced from the radial magnet at the top end of the rotating shaft of the encoder, and the rotation of the rotating shaft by 90 degrees can be sensed through the four Hall sensors. When the rotation reaches 90 degrees, the microcontroller unit is awakened to read and record data.
(3) The microcontroller unit mechanism is awakened using a dormant encoder rotation of more than 90 °. When the encoder is in dormancy, only through hall sensor monitoring rotation whether exceed 90, exceed 90 just record change data, when the fourth 90, when rotating and exceeding 360 promptly, awaken the microcontroller unit of magnetic encoder, record and store the rotatory "number of turns" of encoder, power failure keeps the function moreover.
(4) Power management functions are used. When the encoder microcontroller unit monitors external power supply, the encoder does not enter a sleep mode, and the angle data of the rotation of the encoder is collected and stored at any time. When the microcontroller unit of the encoder monitors that the external power supply is disconnected, the microcontroller unit of the encoder automatically enters a sleep mode, and the internal battery is started, so that the microcontroller unit is ensured to be in a sleep state, and meanwhile, the power supply of the Hall sensor is ensured. The power consumption of the two batteries is very low, and the batteries can be continuously used for more than 30 days without charging, thereby completely meeting the actual requirement. For example, the problem that the 'turn number' data of the multi-turn absolute magnetic encoder is cleared cannot occur due to power failure of the magnetic encoder caused by external power failure, equipment maintenance and the like.
Compared with the prior art, the invention has the following advantages:
(1) the electronic simulation machine greatly reduces the processing difficulty and the production cost.
The invention uses the principle of clock gear mechanism in China, when the central gear rotates, another group of gears (or a plurality of groups of gears) is driven, the invention adopts the register to record the number of turns, and after the central gear rotates 360 degrees, the register is added with 1-turn mark. Compared with the mechanical recording of the number of turns, the electronic recording is easier to realize, and the data can be stored for a long time without loss.
(2) Compared with other electronic analog machines at present, the power failure does not lose the number of turns.
At present, products for recording the number of turns by adopting electronic analog machinery exist, but the power failure cannot be realized, the record of the number of turns can be lost when the power failure occurs, and the numerical value in a single turn can only be read after the power failure is restarted. The intelligent electronic absolute value magnetic encoder provided by the invention can be powered off, and can read out a multi-turn absolute value after being powered on again.
(3) Compared with the mechanical mode, the number of turns is not limited.
Because of adopting the rotatory number of turns value of electron mode record encoder, do not receive the restriction of encoder structure, so its many rounds of rotatory number of turns value is unrestricted, can infinitely great. The number of turns recorded mechanically is limited by the number of gear sets.
(4) An intelligent data reading and storing mechanism ensures that the electronic analog machine records the absolute value of rotation.
Under the state of external power supply:
the magnetic encoder chip is connected with an external power supply through a power supply management circuit to keep a continuous power-on state, and the rotation angle or the measured displacement number of a rotating shaft of the magnetic encoder is recorded at any time, wherein the state is a normal working state;
secondly, in the power-off state of the external power supply:
under the condition that a rotating shaft of the magnetic encoder does not rotate, an internal battery supplies power to a Hall sensor, the Hall sensor stands by with extremely low power consumption, and a microcontroller unit is in a shutdown state;
when a rotating shaft of the magnetic encoder rotates within 90 degrees, an internal battery supplies power to the Hall sensor, the Hall sensor still stands by with extremely low power consumption, the rotating angle of the rotating shaft is less than 90 degrees, the microcontroller unit is not waken up, and the microcontroller unit is still in a shutdown state; when the power supply state of the external power supply is switched, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the turn number value of a register on the microcontroller unit, and the turn number value is zero and indicates that the current single-turn absolute value number is in a single-turn range;
when the rotation of the rotating shaft of the magnetic encoder exceeds 90 degrees, the Hall sensor wakes up the microcontroller unit, the microcontroller unit reads and stores the current single-turn absolute value, records the accumulated rotating angle value, and enters a shutdown state again after a plurality of times; when the rotating shaft of the magnetic encoder rotates 360 degrees, the controller unit stores the number of turns in the register, the number of the register is increased by one every time the number of turns is increased, the rotating shaft of the magnetic encoder rotates in the reverse direction for one turn, and the data of the register is decreased by one; when the power supply state of the external power supply is switched to, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the current number of turns of the register, and sends the current single-turn absolute value number and the current number of turns of the register to the main control acquisition controller unit through the communication interface circuit;
and thirdly, adding external power after the external power supply is powered off:
according to the first and second data reading and storing mechanisms, the angle and the number of the single-turn absolute value of the encoder are read out whenever external power is added again, and the number of the multi-turn absolute value is obtained;
initializing before use:
before use or before leaving factory, one initialization is needed, the current angle is set to zero, and on the basis, the change of the absolute value is automatically recorded.
(5) The low-power-consumption operation of the cooperative data acquisition device is facilitated.
The intelligent electronic absolute value magnetic encoder provided by the invention realizes all functions of the absolute value encoder under the condition of external power-on, and can read the rotating numerical value of the encoder after power-off and repeated power-on. Therefore, the data acquisition equipment can be used as a main control, and the magnetic encoder is controlled to be powered on or powered off to run in a self low-power-consumption mode. Compared with a common magnetic encoder, the magnetic encoder has obvious difference, the common magnetic encoder does not have a data real-time monitoring function after power failure, even if the data acquisition equipment enters a low-power-consumption standby or shutdown state, the power supply to the magnetic encoder cannot be cut off, and the low power consumption of the monitoring equipment cannot be really realized.
(6) And data is effectively guaranteed in real time.
The magnetic encoder is used for monitoring the rotation angle of the tested device. The data has real-time requirements, namely, the data acquisition efficiency is ensured when the rotation angle is changed.
When the change frequency of the rotation angle is high, the main control microcontroller unit responsible for data acquisition ensures that the magnetic encoder is externally powered, so that the magnetic encoder is always in a working state, and the rotation angle data of the magnetic encoder can be read in real time.
When the change frequency of the rotation angle is not high, the rotation with a large angle cannot occur under the normal condition, the main control microcontroller unit responsible for data acquisition can set the time interval for entering the sleep mode according to the actual condition, for example, the main control microcontroller unit enters the sleep state after reading data once every ten minutes, and simultaneously controls the magnetic encoder to enter the low power consumption mode by controlling the magnetic encoder to be powered on and powered off.
The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the technical scope of the present invention.
Claims (7)
1. The utility model provides a many rings of absolute value magnetic encoder with outage memory function, the end of many rings of absolute value magnetic encoder's rotation axis is provided with the permanent magnet, and the position department that corresponds the permanent magnet on many rings of absolute value magnetic encoder's the circuit board is provided with the magnetic induction component that detects permanent magnet turned angle, its characterized in that: be provided with the angle induction sensor group that detects permanent magnet turned angle after the outage around the magnetic induction element, angle induction sensor group, magnetic induction element are connected respectively on the treater that is located reading and storage rotation axis number of revolutions on the circuit board, be provided with inside power supply unit on the circuit board, inside power supply unit connects treater and angle induction sensor group respectively and supplies power for the two.
2. The multi-turn absolute value magnetic encoder with power-off memory function according to claim 1, characterized in that: the magnetic induction element is a magnetic encoder chip (1), the angle induction sensor group comprises four Hall sensors (2), and the four Hall sensors (2) are arranged around the magnetic encoder chip (1) in a cross shape.
3. The multi-turn absolute value magnetic encoder with power-off memory function according to claim 2, characterized in that: the processor is a microcontroller unit (3), the internal power supply unit comprises an internal battery (4) and a power management circuit (5) which are connected with each other, the internal battery (4) is respectively connected with the microcontroller unit (3) and the Hall sensor (2) in the circuit board (6), the power management circuit (5) is respectively connected with the microcontroller unit (3) in the circuit board (6), magnetic encoder chip (1) is connected, and power management circuit (5) are in the external connection of circuit board (6) has external power source (7), and microcontroller unit (3) are in the internal connection of circuit board (6) has communication interface circuit (8), and communication interface circuit (8) are in the external connection of circuit board (6) has master control collection controller unit (9), and master control collection controller unit (9) are connected with external power source (7).
4. The multi-turn absolute value magnetic encoder with power-off memory function according to claim 3, characterized in that: the multi-turn absolute value magnetic encoder comprises a base (10), a bearing (11) is embedded in a middle hole of the base (10), a rotating shaft (12) penetrates through the bearing (11), and the upper end of the rotating shaft (12) protrudes out of the upper surface of the base (10) and is upwards connected with a radial magnet (13); base (10) top is connected with magnetic encoder shell (14), and circuit board (6) set up in the inside of magnetic encoder shell (14), and circuit board (6) are located the top of radial magnet (13), hall sensor (2) set up and are close to radial magnet (13) one side on circuit board (6), radial magnet (13) one side is kept away from in microcontroller unit (3), internal battery (4), power management circuit (5) and communication interface circuit (8) setting on circuit board (6).
5. The multi-turn absolute value magnetic encoder with power-off memory function according to claim 4, characterized in that: the upper end of the rotating shaft (12) is connected with a magnet sleeve (15), and the radial magnet (13) is arranged in the magnet sleeve (15).
6. The multi-turn absolute value magnetic encoder with power-off memory function according to claim 5, characterized in that: the base (10) is provided with at least two screws (16) used for fixing the circuit board (6), and the circuit board (6) is connected to the upper ends of the screws (16).
7. A method for acquiring a multi-turn absolute value magnetic encoder with a power-off memory function is characterized by comprising the following steps:
under the state of external power supply:
the magnetic encoder chip is connected with an external power supply through a power supply management circuit to keep a continuous power-on state, and the rotation angle or the measured displacement number of a rotating shaft of the magnetic encoder is recorded at any time, wherein the state is a normal working state;
secondly, in the power-off state of the external power supply:
under the condition that a rotating shaft of the magnetic encoder does not rotate, an internal battery supplies power to a Hall sensor, the Hall sensor stands by with extremely low power consumption, and a microcontroller unit is in a shutdown state;
when a rotating shaft of the magnetic encoder rotates within 90 degrees, an internal battery supplies power to the Hall sensor, the Hall sensor still stands by with extremely low power consumption, the rotating angle of the rotating shaft is less than 90 degrees, the microcontroller unit is not waken up, and the microcontroller unit is still in a shutdown state; when the power supply state of the external power supply is switched, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the turn number value of a register on the microcontroller unit, and the turn number value is zero and indicates that the current single-turn absolute value number is in a single-turn range;
when the rotation of the rotating shaft of the magnetic encoder exceeds 90 degrees, the Hall sensor wakes up the microcontroller unit, the microcontroller unit reads and stores the current single-turn absolute value, records the accumulated rotating angle value, and enters a shutdown state again after a plurality of times; when the rotating shaft of the magnetic encoder rotates 360 degrees, the controller unit stores the number of turns in the register, the number of the register is increased by one every time the number of turns is increased, the rotating shaft of the magnetic encoder rotates in the reverse direction for one turn, and the data of the register is decreased by one; when the power supply state of the external power supply is switched to, the microcontroller unit wakes up and then reads the current single-turn absolute value number and the current number of turns of the register, and sends the current single-turn absolute value number and the current number of turns of the register to the main control acquisition controller unit through the communication interface circuit;
and thirdly, adding external power after the external power supply is powered off:
according to the first and second data reading and storing mechanisms, the angle and the number of the single-turn absolute value of the encoder are read out whenever external power is added again, and the number of the multi-turn absolute value is obtained;
initializing before use:
before use or before leaving factory, one initialization is needed, the current angle is set to zero, and on the basis, the change of the absolute value is automatically recorded.
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| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
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| CN107655510A (en) * | 2017-03-02 | 2018-02-02 | 北京军立方机器人科技有限公司 | A kind of multi-turn absolute value encoder and method for detecting position |
| CN109556638A (en) * | 2018-12-24 | 2019-04-02 | 前沿驱动（北京）技术有限公司 | Multi-turn absolute value encoder, coding method, controller and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
| CN115061415B (en) * | 2022-08-18 | 2023-01-24 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
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