CN114485381A - Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder - Google Patents
Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder Download PDFInfo
- Publication number
- CN114485381A CN114485381A CN202111535366.5A CN202111535366A CN114485381A CN 114485381 A CN114485381 A CN 114485381A CN 202111535366 A CN202111535366 A CN 202111535366A CN 114485381 A CN114485381 A CN 114485381A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- magnet
- magnetic sensor
- ring
- sensor device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000003750 conditioning effect Effects 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims 4
- 238000009434 installation Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 3
- 230000006698 induction Effects 0.000 description 12
- 238000005259 measurement Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
An off-axis double-magnetic-ring multi-antipode absolute magnetic encoder comprises a magnetic encoder body, wherein the magnetic encoder body consists of a magnetic ring combination and a reading head, the magnetic ring combination comprises a first magnet arranged on an outer ring, a second magnet arranged on an inner ring and a magnetic ring base, the first magnet and the second magnet are arranged concentrically, and through holes are formed in the magnetic ring base and the reading head; the first magnet is of a hollow annular structure and is provided with N pairs of N/S magnetic poles, wherein N is more than or equal to 1; the reading head comprises a first magnetic sensor combination, a second magnetic sensor combination, a signal conditioning unit, a signal acquisition unit, a signal processing unit, a communication unit, a matched external clock and a reference voltage module; the magnetic encoder can be installed off-axis by utilizing the invention, has small thickness, small volume and light weight, and is suitable for installation environment with severe space; the vibration damper can be applied to environments with dust, oil stain, strong vibration and strong impact, and has wide application range.
Description
Technical Field
The invention relates to a magnetic encoder, in particular to an off-axis double-magnetic-ring multi-antipode absolute magnetic encoder.
Background
In engineering construction, there are a large number of systems that need to accurately detect the angle and speed of rotational motion, such as position markers, turrets, elevators, machine tools, robotic joints, drones, and various similar servo motor systems,
in such measurement applications, there are often several special requirements attached, such as off-axis mounting, severe volume and weight limitations, dust, oil contamination in the use environment, strong vibrations, strong impacts, etc., which are difficult to meet with conventional rotary encoders. The traditional rotary encoder is used under the condition of unfriendly environment, so that the system is easy to be unstable, the normal work of the system is influenced, the working efficiency is reduced, and the economic loss is caused.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides an off-axis double-magnetic-ring multi-pair-pole absolute magnetic encoder which can realize off-axis installation and has high measurement precision.
The invention adopts the technical scheme for solving the technical problems that: an off-axis double-magnetic-ring multi-antipode absolute magnetic encoder comprises a magnetic encoder body, wherein the magnetic encoder body consists of a magnetic ring combination and a reading head, the magnetic ring combination comprises a first magnet arranged on an outer ring, a second magnet arranged on an inner ring and a magnetic ring base, the first magnet and the second magnet are arranged concentrically, and through holes are formed in the magnetic ring base and the reading head;
the first magnet is of a hollow annular structure and is provided with N pairs of N/S magnetic poles, wherein N is more than or equal to 1; the second magnet is a hollow annular structure and is provided with m pairs of N/S magnetic poles, wherein m is more than or equal to 2, and m is more than N;
the reading head comprises a first magnetic sensor combination, a second magnetic sensor combination, a signal conditioning unit, a signal acquisition unit, a signal processing unit, a communication unit, and a matched external clock and reference voltage module;
the first magnetic sensor combination comprises a first linear magnetic sensor device and a second linear magnetic sensor device, the first linear magnetic sensor device
The measuring surface of the second linear magnetic sensor device is close to the outer end surface of the first magnet and is parallel to the outer end surface of the first magnet;
the second magnetic sensor assembly includes a third linear magnetic sensor device and a fourth linear magnetic sensor device, and the measuring surfaces of the third and fourth linear magnetic sensor devices are close to the upper surface of the second magnet and parallel to the upper surface of the second magnet.
Further, the projections of the centers of the measuring surfaces of the first linear magnetic sensor device and the second linear magnetic sensor device on a plane are positioned on an arc concentric with the first magnetic ring, and the two magnetic sensor devices are separated from each other by 1/2 magnetic pole arc lengths.
Furthermore, the projections of the centers of the measuring surfaces of the third linear magnetic sensor device and the fourth linear magnetic sensor device on the plane are positioned on an arc concentric with the second magnetic ring, and the two magnetic sensor devices are separated by (1/2+2T) magnetic pole arc length, wherein T is an integer and is more than or equal to 0 and less than or equal to m-1.
Further, the arc length of each antipole N/S of the first magnet and the second magnet is equal.
Further, the first magnet and the second magnet are made of permanent magnet materials.
The method is based on the magnetic measurement principle, and the current magnetic induction intensity of a plurality of points in a magnetic field is measured simultaneously; then, the output of a plurality of magnetic sensor devices is acquired through a signal conditioning unit and a signal acquisition unit, the current relative angular displacement of the stator and the rotor is calculated through a signal processing unit according to the amplitude and the phase of the output signals of the plurality of magnetic sensor devices, and the numerical value is output in incremental ABZ, SPI, RS485, CAN, SSI, PROFIBUS, PROFINET and other communication modes through a communication unit, so that the measurement of the whole rotation angle is completed; the encoder can be kept in a high absolute angle measurement accuracy, the size and the weight of the encoder can be greatly compressed, and off-axis installation can be realized.
The magnetic encoder is a hollow annular structure, can be installed off-axis, has small thickness, small volume and light weight, and is suitable for installation environment with severe space. The magnetic encoder is based on the magnetic measurement principle, can be applied to the environments of dust, oil stain, strong vibration and strong impact, and has wide application range.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a magnetic ring assembly in the embodiment shown in FIG. 1;
FIG. 3 is a graph of the magnetic induction intensity of the periodic variation collected by the first magnetic sensor assembly in the embodiment shown in FIG. 1;
FIG. 4 is a graph of the magnetic induction intensity of the second magnetic sensor assembly of the embodiment shown in FIG. 1;
fig. 5 is a block diagram of a schematic architecture of signal acquisition and processing according to an embodiment of the present invention.
In the figure: 1000-magnetic encoder body, 1100-magnetic ring combination, 1110-first magnet, 1120-second magnet, 1130-magnetic ring base, 1200-reading head, 1210-first magnetic sensor combination, 1211-first linear magnetic sensor device, 1212-second linear magnetic sensor device, 1220-second magnetic sensor combination, 1221-third linear magnetic sensor device, 1222-fourth linear magnetic sensor device, 1230-signal conditioning unit, 1240-signal acquisition unit, 1250-signal processing unit, 1260-communication unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, the present embodiment includes a magnetic encoder body 1000, the magnetic encoder body 1000 is composed of a magnetic ring assembly 1100 and a reading head 1200,
the magnetic ring assembly 1100 includes a first magnet 1110 disposed on the outer ring, a second magnet 1120 disposed on the inner ring, and a magnetic ring base 1130, wherein the first magnet 1110 and the second magnet 1120 are concentrically mounted, and through holes are disposed on both the magnetic ring base 1130 and the reading head 1200. The first magnet 1110 and the second magnet 1120 can be directly adhered to the base or mounted on the system to be tested together with the magnetic ring base 1130 through screws.
Referring to fig. 2, the first magnet 1110 has a hollow ring shape, and is made of a permanent magnet material, and has 1 pair of N/S poles, the N pole and the S pole have the same arc length, and a pole with a specified arc length (the difference between the arc lengths is within a manufacturing error range) may also be used; the second magnet 1120 is in a hollow ring shape, is made of a permanent magnet material, has 16 pairs of N/S magnetic poles, has the same arc length of the N pole and the S pole, has the same arc length of each pair of poles, and can also adopt magnetic poles with specified arc lengths (the difference of the arc lengths is within the manufacturing error range). The actual arc lengths of the poles will vary from manufacturing to manufacturing within the tolerances normally allowed, i.e., should be considered the same or a specified arc length.
The reading head 1200 includes a first magnetic sensor assembly 1210, a second magnetic sensor assembly 1220, a signal conditioning unit 1230, a signal acquisition unit 1240, a signal processing unit 1250, a communication unit 1260, and a matched external clock and reference voltage module.
The first magnetic sensor assembly 1210 includes a first linear magnetic sensor device 1211 and a second linear magnetic sensor device 1212, and the measurement faces of the first linear magnetic sensor device 1211 and the second linear magnetic sensor device 1212 are proximate to the outer end face of the first magnet 1110, and are parallel to the outer end face of the first magnet 1110.
The second magnetic sensor assembly 1220 includes a third linear magnetic sensor device 1221 and a fourth linear magnetic sensor device 1222, and the measuring surfaces of the third and fourth linear magnetic sensor devices 1221 and 1222 are proximate to the upper surface of the second magnet 1120 and parallel to the upper surface of the second magnet 1120.
The projections of the centers of the measuring planes of the first and second linear magnetic sensor devices 1211 and 1212 on a plane are located on an arc concentric with the first magnetic ring 1110, the two magnetic sensor devices being spaced from each other by 1/2 pole arc lengths.
Projections of the centers of the measurement planes of the third and fourth linear magnetic sensor devices 1221 and 1222 on a plane are located above an arc concentric with the second magnetic ring 1120, the two magnetic sensor devices being spaced apart from each other by (1/2+2T) a magnetic pole arc length (T is an integer).
The actual mounting of the magnetic sensor device results in differences in concentricity and distance which are within the usually allowed manufacturing and mounting tolerances, i.e. should be considered the same.
The amplitude of the output signal of the magnetic sensor device is in a linear relationship with the magnetic induction intensity of the current measuring surface, and in the measuring process of the magnetic encoder, the magnetic sensor device can measure four groups of magnetic induction intensities with periodic variation (as shown in fig. 3-4).
The signal conditioning unit 1230 performs linear adjustment on the outputs of the first linear magnetic sensor device 1211, the second linear magnetic sensor device 1212, the third linear magnetic sensor device 1221, and the fourth linear magnetic sensor device 1222, removes noise, and the signal acquisition unit 1240 simultaneously acquires four processed signals and transmits the four processed signals to the signal processing unit 1250.
The core of the signal processing unit 1250 is an embedded microprocessor, which uses STM32F373, or an embedded microprocessor with similar architecture and function.
The embedded microprocessor collects the processed output of the magnetic sensor devices from the signal collection unit according to the specified frequency by taking the frequency of an external clock as a reference, and calculates the relative angular displacement, namely the rotation angle, of the current magnetic ring and the reading head according to the amplitude and the phase of the output signal of each magnetic sensor device. The calculated angle is transmitted to the outside via the communication unit 1260.
Fig. 3 shows a theoretical waveform of the magnetic induction intensity in the radial direction of the first magnet 1110 measured by the magnetic sensor device when the magnetic ring assembly 1100 rotates at a constant speed, where the abscissa is an angle value (radian) and the ordinate is the magnetic induction intensity; fig. 4 shows a theoretical waveform of magnetic induction in the axial direction of the second magnet 1120 measured by the magnetic sensor device, in which the abscissa represents an angle value (radian) and the ordinate represents magnetic induction.
As shown in fig. 5, the principle architecture of signal acquisition and processing is as follows: the magnetic sensor devices 1211, 1212, 1221, 1222 (collecting magnetic induction) -the signal conditioning unit 1230-the signal collecting unit 1240-the signal processing unit 1250-the communication unit 1260-angle value is transmitted to the outside.
The reading head 1200 in this embodiment CAN measure the magnetic induction intensity according to the designated frequency, convert the measured magnetic induction intensity into a corresponding rotation angle, and output the direction and the numerical value of the rotation angle to the external system in the incremental ABZ, SPI, RS485, CAN, SSI, PROFIBUS, PROFINET, and other communication modes.
The reference power supply module provides reference voltage for acquisition and signal processing.
Mounting manner of the magnetic encoder body 1000 of the present embodiment:
the magnetic ring combination 1100 and the tested system are concentrically arranged, the reading head 1200 and the magnetic ring combination 1100 are arranged in parallel, one of the reading head and the magnetic ring combination is fixedly connected with the tested system and rotates along with the rotation of the tested system, the reading head is called as a rotor, and the other reading head cannot rotate along with the tested system and is called as a stator; the measuring surface of the magnetic sensor device is close to the upper surface of the magnetic ring and is parallel to the upper surface of the magnetic ring.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are still within the scope of the present patent invention provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (5)
1. The utility model provides an absolute formula magnetic encoder of many antipodes of two magnetic rings of off-axis, includes the magnetic encoder body, and the magnetic encoder body comprises magnetic ring combination and reading head, its characterized in that: the magnetic ring assembly comprises a first magnet arranged on the outer ring, a second magnet arranged on the inner ring and a magnetic ring base, the first magnet and the second magnet are concentrically arranged, and through holes are formed in the magnetic ring base and the reading head;
the first magnet is of a hollow annular structure and is provided with N pairs of N/S magnetic poles, wherein N is more than or equal to 1; the second magnet is a hollow annular structure and is provided with m pairs of N/S magnetic poles, wherein m is more than or equal to 2, and m is more than N;
the reading head comprises a first magnetic sensor combination, a second magnetic sensor combination, a signal conditioning unit, a signal acquisition unit, a signal processing unit, a communication unit, and a matched external clock and reference voltage module;
the first magnetic sensor combination comprises a first linear magnetic sensor device and a second linear magnetic sensor device, and the measuring surfaces of the first linear magnetic sensor device and the second linear magnetic sensor device are close to the outer end surface of the first magnet and are parallel to the outer end surface of the first magnet;
the second magnetic sensor assembly includes a third linear magnetic sensor device and a fourth linear magnetic sensor device, and the measuring surfaces of the third and fourth linear magnetic sensor devices are close to the upper surface of the second magnet and parallel to the upper surface of the second magnet.
2. The off-axis dual magnetic ring multi-pair pole absolute magnetic encoder as claimed in claim 1, wherein: the projection of the centers of the measuring surfaces of the first linear magnetic sensor device and the second linear magnetic sensor device on the plane is positioned on an arc concentric with the first magnetic ring, and the two magnetic sensor devices are separated from each other by 1/2 magnetic pole arc lengths.
3. The off-axis dual magnetic ring multi-pair pole absolute magnetic encoder as claimed in claim 1 or 2, wherein: the projections of the centers of the measuring surfaces of the third linear magnetic sensor device and the fourth linear magnetic sensor device on the plane are positioned on an arc concentric with the second magnetic ring, and the two magnetic sensor devices are separated by (1/2+2T) magnetic pole arc lengths, wherein T is an integer and is more than or equal to 0 and less than or equal to m-1.
4. The off-axis dual magnetic ring multi-pair pole absolute magnetic encoder as claimed in claim 1 or 2, wherein: the arc length of each antipole N/S of the first magnet and the second magnet is equal.
5. The off-axis dual magnetic ring multi-pair pole absolute magnetic encoder as claimed in claim 1 or 2, wherein: the first magnet and the second magnet are made of permanent magnet materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111535366.5A CN114485381A (en) | 2021-12-15 | 2021-12-15 | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111535366.5A CN114485381A (en) | 2021-12-15 | 2021-12-15 | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114485381A true CN114485381A (en) | 2022-05-13 |
Family
ID=81493941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111535366.5A Pending CN114485381A (en) | 2021-12-15 | 2021-12-15 | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114485381A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078302A (en) * | 2016-08-18 | 2016-11-09 | 北京超同步伺服股份有限公司 | Electronic knife striking cylinder and the encoder for electronic knife striking cylinder |
| CN112113585A (en) * | 2020-07-24 | 2020-12-22 | 哈尔滨工业大学 | Encoder and method for detecting absolute angle of encoder |
| CN112344970A (en) * | 2020-11-17 | 2021-02-09 | 湖南航天磁电有限责任公司 | Off-axis single-ring single-antipode absolute magnetic encoder |
-
2021
- 2021-12-15 CN CN202111535366.5A patent/CN114485381A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078302A (en) * | 2016-08-18 | 2016-11-09 | 北京超同步伺服股份有限公司 | Electronic knife striking cylinder and the encoder for electronic knife striking cylinder |
| CN112113585A (en) * | 2020-07-24 | 2020-12-22 | 哈尔滨工业大学 | Encoder and method for detecting absolute angle of encoder |
| CN112344970A (en) * | 2020-11-17 | 2021-02-09 | 湖南航天磁电有限责任公司 | Off-axis single-ring single-antipode absolute magnetic encoder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101846531B (en) | Multipole combined-type magnetic encoder | |
| US8461827B2 (en) | Roller bearing arrangement with a sensor unit | |
| CN112117872B (en) | Special motor, electrical equipment and vehicle | |
| CN112361945A (en) | Magnetoelectric encoder for detecting axial movement of motor spindle | |
| CN114659543B (en) | High-precision multi-pair-pole magnetoelectric encoder | |
| CN111006696B (en) | Magnetic encoder and angle calculation method thereof | |
| CN114485381A (en) | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder | |
| CN114216392A (en) | Off-axis double-magnetic-ring multi-antipode absolute magnetic encoder | |
| CN106225814B (en) | A kind of gear type magnetic encoder | |
| CN112865436B (en) | Special motor and control method and control device thereof | |
| CN107389104B (en) | Multi-ring magnetic absolute angle sensor | |
| CN205352419U (en) | Magnetic resistance absolute encoder | |
| CN109000554A (en) | Absolute type magnetoelectricity angular displacement sensor implementation method based on asymmetric field structure | |
| CN112344970A (en) | Off-axis single-ring single-antipode absolute magnetic encoder | |
| Yamamoto et al. | Development of absolute magnetic rotary encoder with eccentric rotation | |
| CN101877267B (en) | Magnetoconductive ring | |
| CN201503740U (en) | Magnetic ring | |
| CN117040206B (en) | High-precision servo motor and electrical equipment | |
| CN117411248B (en) | Ultra-high precision servo motor and electrical equipment | |
| CN117394609B (en) | Permanent magnet synchronous servo motor and electrical equipment | |
| CN117411247B (en) | Industrial servo motor and electrical equipment | |
| CN117040207B (en) | Large-diameter servo motor and electrical equipment | |
| CN104165581B (en) | Magnetic conductance formula absolute angle detection system | |
| CN112344969A (en) | Off-axis single-ring multi-antipode absolute magnetic encoder | |
| CN118293958A (en) | Hollow absolute value encoder and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |