CN115046572A - High-resolution electromagnetic angle encoder with absolute zero position and manufacturing method thereof - Google Patents
High-resolution electromagnetic angle encoder with absolute zero position and manufacturing method thereof Download PDFInfo
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- CN115046572A CN115046572A CN202210738507.1A CN202210738507A CN115046572A CN 115046572 A CN115046572 A CN 115046572A CN 202210738507 A CN202210738507 A CN 202210738507A CN 115046572 A CN115046572 A CN 115046572A
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- absolute zero
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- 238000002360 preparation method Methods 0.000 claims abstract description 4
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- 238000005553 drilling Methods 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
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Abstract
The invention discloses a high-resolution electromagnetic angle encoder with an absolute zero position and a preparation method thereof, wherein high-resolution output of a Hall electromagnetic angle encoder is realized by utilizing a plurality of pairs of polar magnets, a photoelectric switch and a shading sheet are integrated in an encoder structure, and when the jumping of the output of the photoelectric switch from a high level to a low level, namely the zero position of the current electric angle period is monitored to be used as the absolute zero position, so that the absolute zero position function under a plurality of pairs of polar magnets mode is realized, and the technical level and the application field of the encoder are further improved.
Description
Technical Field
The invention relates to an angle encoder, in particular to a Hall electromagnetic angle encoder.
Background
The angle encoder is a compact structure body formed by packaging a structural body, a flange, a rotating shaft, a bearing, a circuit decoding board and other parts by using an outer cover, a connecting shaft is led out to be connected with a tested shaft system, and the angle encoder is used as a precise angle measuring element and is widely applied to the industries of robot joint arms, servo motors, wind driven generators, automobiles, machining centers, machine tools, testing turntables, textile equipment and the like.
The photoelectric angle encoder has the advantages of high resolution and angle measurement precision and has the defects that a light source device required by the photoelectric angle encoder is a service life loss device, and meanwhile, because a grating plate in the photoelectric angle encoder is made of glass, the risk of product failure caused by grating plate fragmentation exists in the environment with strong vibration and impact.
The most commonly used electromagnetic angle encoder is a Hall angle encoder, wherein a radial magnetized 1-pair pole circular magnet is fixed on a shaft system in the encoder, a magnetic decoding chip integrated with a Hall sensitive element is arranged at a fixed end corresponding to the magnet, when the shaft drives the circular magnet to rotate, the magnetic decoding chip senses a changing electromagnetic field and converts the changing electromagnetic field into a digital electric signal, and the electric signal is decoded to measure the rotation angle of the current shaft system.
The Hall electromagnetic angle encoder has the advantages of simple structure and no life loss device similar to a light source, so that the Hall electromagnetic angle encoder has long service life and good environmental adaptability, and has the defect of low angle measurement resolution.
The resolution of the hall electromagnetic angle encoder depends on the resolution of the applied magnetic decoding chip, and the highest resolution of the current magnetic decoding chip is AEAT-6600 developed by the company anghuagao, which can reach 16 bits.
In order to further improve the resolution of the angle encoder, the number of pole pairs of the magnet can be increased, but although the resolution of the encoder can be improved by the method for increasing the number of pole pairs of the magnet, the absolute zero point of the encoder is lost, and how to maintain the absolute zero point while improving the resolution of the hall electromagnetic angle encoder becomes a technical problem of the current hall electromagnetic angle encoder.
Disclosure of Invention
Therefore, the present invention provides a high resolution electromagnetic angle encoder with an absolute zero and a method for manufacturing the same to solve the problems of the background art.
In order to realize the purpose, the invention provides the following technical scheme: a high-resolution electromagnetic angle encoder with an absolute zero position comprises a rotating shaft, a lower bearing, an upper bearing, a base, a multi-pair-pole magnet, a shading sheet, a copper stud, a circuit board and a photoelectric switch; the lower bearing inner ring is sleeved on the lower bearing position of the rotating shaft, the upper bearing inner ring is sleeved on the upper bearing position of the rotating shaft, the rotating shaft and the upper and lower bearings are sleeved in the base, the outer ring of the upper bearing is propped against the upper bearing position of the base to prevent the rotating shaft from moving upwards, and the lower bearing is fixed with the inner wall of the base in an epoxy resin adhesive curing mode to prevent the rotating shaft from moving downwards.
A radial magnetized multi-pole magnet is placed in a circular groove at the top of the rotating shaft, and then the anti-dazzling screen is fixed on the rotating shaft by screws.
Fixing the copper stud on the base, welding the photoelectric switch on the circuit board, then placing the circuit board on the copper stud and fixing the circuit board by using a screw, and enabling the magnetic decoding chip on the circuit board to be opposite to the multi-pair-pole magnet, wherein the distance is about 2 mm.
Further, as a preferred option, the multi-pole magnet has 8 pairs of poles, so that the decoded electrical angle changes 8 cycles every time the rotating shaft drives the magnet to rotate by one turn (360 °), and if the magnetic decoding chip selects 16-bit resolution, the resolution of the angle encoder can reach 19 bits, thereby realizing high-resolution angle measurement.
Further, as a preferred option, the photoelectric switch is an infrared correlation type photoelectric sensor, which includes an emitting end and a receiving end, and the emitting end of the photoelectric switch emits infrared light by supplying power to the photoelectric switch, when the light shielding sheet does not enter the U-shaped groove, the receiving end can receive the infrared light, the output end of the photoelectric switch is at a high level, when the light shielding sheet enters the U-shaped groove, the receiving end cannot receive the infrared light, and the output end of the photoelectric switch is at a low level.
The zero position of the current electric angle period can be used as an absolute zero position by monitoring the jump of the photoelectric switch output from a high level to a low level, so that the absolute zero position function under a multi-pair-pole magnet mode is realized.
A preparation method of a high-resolution absolute zero electromagnetic angle encoder comprises the following steps:
s1: the rotating shaft can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning, groove milling and plane grinding of two end faces;
s2: the base can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning, drilling and plane grinding of two end faces;
s3: the shading sheet can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning and drilling;
s4: the circuit board can be manufactured through the working procedures of schematic diagram design, PCB design, printed circuit board manufacturing, component welding and program debugging;
s5: sleeving an upper bearing inner ring on an upper bearing position of a rotating shaft, sleeving a lower bearing inner ring on a lower bearing position of the rotating shaft, sleeving the rotating shaft and upper and lower bearings into a base, wherein an outer ring of the upper bearing is propped against the upper bearing position of the base to prevent the rotating shaft from moving upwards, and the lower bearing is fixed with the inner wall of the base in an epoxy resin adhesive curing mode to prevent the rotating shaft from moving downwards;
s6: a radial magnetized multi-pole magnet is placed in a groove at the top of the rotating shaft, and then the shading sheet is fixed on the rotating shaft by screws.
S7: fixing the copper stud on the base, welding the photoelectric switch on the circuit board, then placing the circuit board on the copper stud and fixing the circuit board by using screws, wherein the magnetic decoding chip on the circuit board is opposite to the multi-pair-pole magnet, the distance is about 2mm, a lead is led out from the circuit board, and the lead at the leading-out end comprises a power supply and a communication interface.
S8: fix 1 anti-dazzling screen on the rotation axis, 1 photoelectric switch of welding on the circuit board, give the circuit board and the photoelectric switch on it power supply through the wire, magnetic decoding chip on the circuit board can measure digital angle value when the rotation axis drives many pairs of pole magnet rotation, photoelectric switch is infrared correlation formula photoelectric sensor, it contains transmitting terminal and receiving terminal, through supplying power to photoelectric switch, its transmitting terminal sends the infrared light, when anti-dazzling screen does not get into U type groove, the receiving terminal can receive the infrared light, photoelectric switch's output is the high level this moment, when anti-dazzling screen gets into U type groove, the receiving terminal then can not receive the infrared light, photoelectric switch's output is the low level this moment. The zero position of the current electric angle period can be used as an absolute zero position by monitoring the jump of the photoelectric switch output from a high level to a low level, so that the absolute zero position function in a multi-pair-pole magnet mode is realized.
Compared with the prior art, the invention has the beneficial effects that:
the resolution of the traditional Hall type electromagnetic angle encoder is difficult to improve because the magnetic decoding chip is up to 16 bits, if the resolution can be improved by changing a single-pole pair into a multi-pole pair, but an absolute zero point is not available.
Drawings
Fig. 1 is a schematic perspective view of a high-resolution electromagnetic angle encoder.
Fig. 2 is a schematic structural diagram of a rotating shaft and upper and lower bearings in a high-resolution electromagnetic angle encoder.
FIG. 3 is a schematic diagram of a top view of a flange, a magnet and a gobo in a high resolution electromagnetic angular encoder
Intention is.
Fig. 4 is a schematic bottom view of a flange of a high-resolution electromagnetic angle encoder.
Fig. 5 is a schematic structural diagram of the photoelectric switch.
In the figure: 1. a rotating shaft; 2. a base; 3. a plurality of pairs of pole magnets; 4. a shading sheet; 5. a copper stud; 6. a circuit board; 7. a photoelectric switch; 8. a lower bearing; 9. an upper bearing; 10. a lower bearing position of the rotating shaft; 11. an upper bearing position of the rotating shaft; 12. an upper bearing position of the base; 13. an inner wall of the base; 14. a circular groove is formed in the top of the rotating shaft; 15. the shading sheet is fixed with a screw; 16. a mounting hole at the upper end of the rotating shaft; 17. a circuit board fixing screw; 18. a mounting hole of the base; 19. a photoelectric switch transmitting terminal; 20. a photoelectric switch receiving end; 21. a photoelectric switch power supply input end; 22. a photoelectric switch GND input end; 23. a photoelectric switch output end; 24. photoelectric switch U type groove.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example (b): referring to fig. 1-5, the present invention provides a technical solution: a high-resolution electromagnetic angle encoder with an absolute zero position comprises a rotating shaft 1, a lower bearing 8, an upper bearing 9, a base 2, a multi-pair-pole magnet 3, a shading sheet 4, a copper stud 5, a circuit board 6 and a photoelectric switch 7; the inner ring of the lower bearing 8 is sleeved on a lower bearing position 10 of the rotating shaft 1, the inner ring of the upper bearing 9 is sleeved on an upper bearing position 11 of the rotating shaft 1, the lower bearing 8 and the upper bearing 9 are sleeved into the base 2, wherein the outer ring of the upper bearing 9 is propped against an upper bearing position 12 of the base 2 to prevent the rotating shaft 1 from moving upwards, and the lower bearing 8 is fixed with an inner wall 13 of the base 2 in an epoxy resin adhesive curing mode to prevent the rotating shaft 1 from moving downwards.
A plurality of pairs of radial magnetized magnets 3 are arranged in a circular groove 14 at the top of the rotating shaft 1, and then the light shading sheet 4 is fixed on a mounting hole 16 at the upper end of the rotating shaft 1 by a screw 15.
Fixing the copper stud 5 on the mounting hole 18 of the base 2, welding the photoelectric switch 7 on the circuit board 6, then placing the circuit board 6 on the copper stud 5 and fixing by using the screw 17, so that the magnetic decoding chip 9 on the circuit board 6 is opposite to the multi-pair-pole magnet 3, and the distance is about 2 mm.
Further, preferably, the multi-pole magnet 3 is designed to have 8 poles, so that the decoded electrical angle changes 8 cycles every time the magnet 3 is rotated by the rotating shaft 1 (360 °), and if the magnetic decoding chip 9 selects a 16-bit resolution chip, the resolution of the angle encoder will reach 19 bits.
Further, as a preferred option, the photoelectric switch 7 is an infrared correlation type photoelectric sensor, which includes an emitting end 19 and a receiving end 20, and by supplying +5V voltage to the power input end 21 of the photoelectric switch, the GND input end 22 of the photoelectric switch is grounded, and the emitting end 19 of the photoelectric switch emits infrared light, when the light-shielding sheet 4 does not enter the U-shaped groove 24, the receiving end 20 can receive the infrared light, and at this time, the output end 23 of the photoelectric switch is at a high level, and when the light-shielding sheet 4 enters the U-shaped groove 24, the receiving end 20 cannot receive the infrared light, and at this time, the output end 23 of the photoelectric switch is at a low level. The zero position of the current electric angle period can be used as an absolute zero position by monitoring the jump of the output end 23 of the photoelectric switch from a high level to a low level, so that the absolute zero position function in a multi-pole magnet mode is realized.
A preparation method of a high-resolution absolute zero electromagnetic angle encoder comprises the following steps:
s1: the rotating shaft 1 can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning, groove milling and plane grinding of two end faces;
s2: the base 2 can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning, drilling and plane grinding of two end faces;
s3: the shading sheet 4 can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning and drilling;
s4: the circuit board 6 can be manufactured through the working procedures of schematic diagram design, PCB design, printed circuit board manufacturing, component welding and program debugging;
s5: the inner ring of the lower bearing 8 is sleeved on a lower bearing position 10 of the rotating shaft 1, the inner ring of the upper bearing 9 is sleeved on an upper bearing position 11 of the rotating shaft 1, the lower bearing 8 and the upper bearing 9 are sleeved into the base 2, wherein the outer ring of the upper bearing 9 is propped against an upper bearing position 12 of the base 2 to prevent the rotating shaft 1 from moving upwards, and the lower bearing 8 is fixed with an inner wall 13 of the base 2 in an epoxy resin adhesive curing mode to prevent the rotating shaft 1 from moving downwards.
S6: a plurality of pairs of radial magnetized magnets 3 are arranged in a circular groove 14 at the top of the rotating shaft 1, and then the light shading sheet 4 is fixed on a mounting hole 16 at the upper end of the rotating shaft 1 by a screw 15.
S7: the copper stud 5 is fixed on a mounting hole 18 of the base 2, the photoelectric switch 7 is welded on the circuit board 6, then the circuit board 6 is placed on the copper stud 5 and fixed by a screw 17, the magnetic decoding chip 9 on the circuit board 6 is opposite to the multi-pair-pole magnet 3, the distance is about 2mm, and when the rotating shaft 1 drives the multi-pair-pole magnet 3 to rotate, the magnetic decoding chip 9 on the circuit board 6 can measure a digital angle value.
S8: fixing 1 anti-dazzling screen 4 on rotation axis 1, photoelectric switch 7 is infrared correlation formula photoelectric sensor, it contains transmitting terminal 19 and receiving terminal 20, through applying +5V voltage to photoelectric switch power input 21, make photoelectric switch GND input 22 ground connection, its transmitting terminal 19 sends the infrared light, when anti-dazzling screen 4 does not get into U type groove 24, receiving terminal 20 can receive the infrared light, photoelectric switch's output 23 is the high level this moment, when anti-dazzling screen 4 gets into U type groove 24, receiving terminal 20 then can not receive the infrared light, photoelectric switch's output 23 is the low level this moment. The zero position of the current electric angle period can be used as an absolute zero position by monitoring the jump of the output end 23 of the photoelectric switch from a high level to a low level, so that the absolute zero position function in a multi-pole magnet mode is realized.
Claims (4)
1. A high-resolution electromagnetic angle encoder with an absolute zero position comprises a rotating shaft 1, a base 2, a multi-pair-pole magnet 3, a shading sheet 4, a copper stud 5, a circuit board 6, a photoelectric switch 7 and other components; the main characteristics are as follows: a multi-pole magnet 3 which is magnetized in the radial direction is placed in a circular groove 14 in the top of a rotating shaft 1, a light shielding sheet 4 is fixed on a mounting hole 16 in the upper end of the rotating shaft 1 through a screw 15, a photoelectric switch 7 is welded on a circuit board 6, when the light shielding sheet 4 enters a U-shaped groove of the photoelectric switch 7, the output of the photoelectric switch is changed, and the absolute zero position function of the Hall electromagnetic angle encoder in a multi-pole magnet mode can be realized by utilizing the characteristic.
2. The high resolution electromagnetic angle encoder with absolute zero of claim 1, wherein: the multi-pair magnet 3 is designed to be 8 pairs of poles, so that the decoded electrical angle can change for 8 cycles when the rotating shaft 1 drives the magnet 3 to rotate for each circle (360 degrees), and if the magnetic decoding chip 9 selects a 16-bit resolution chip, the resolution of the angle encoder can reach 19 bits.
3. The photoelectric switch 7 of claim 1 is an infrared correlation photoelectric sensor, which comprises an emitting end 19 and a receiving end 20, wherein by applying a voltage of +5V to a power input end 21 of the photoelectric switch, a GND input end 22 of the photoelectric switch is grounded, the emitting end 19 emits infrared light, when the light-shielding plate 4 does not enter the U-shaped groove 24, the receiving end 20 can receive the infrared light, an output end 23 of the photoelectric switch is at a high level, when the light-shielding plate 4 enters the U-shaped groove 24, the receiving end 20 cannot receive the infrared light, and the output end 23 of the photoelectric switch is at a low level.
4. A preparation method of a high-resolution electromagnetic angle encoder with an absolute zero position is mainly characterized by comprising the following steps:
s1: the rotating shaft 1 can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning, groove milling, drilling and plane grinding of two end faces;
s2: the shading sheet 4 can be manufactured through the working procedures of forging, rough turning, heat treatment, finish turning and drilling;
s3: the circuit board 6 can be manufactured through the working procedures of schematic diagram design, PCB design, printed circuit board manufacturing, component welding and program debugging;
s4: a plurality of pairs of radial magnetized magnets 3 are placed in a circular groove 14 at the top of the rotating shaft 1, and then a light shading sheet 4 is fixed on a mounting hole 16 at the upper end of the rotating shaft 1 by a screw 15;
s5: fixing the copper stud 5 on a mounting hole 18 of the base 2, welding the photoelectric switch 7 on the circuit board 6, then placing the circuit board 6 on the copper stud 5 and fixing the circuit board 6 by using a screw 17, and enabling the magnetic decoding chip 9 on the circuit board 6 to be opposite to the multi-pair-pole magnet 3;
s6: fix 1 anti-dazzling screen 4 on rotation axis 1, weld 1 photoelectric switch 7 on circuit board 6, apply +5V voltage to photoelectric switch power input 21, photoelectric switch GND input 22 ground connection, its transmitting terminal 19 sends the infrared light, when anti-dazzling screen 4 does not get into U type groove 24, receiving terminal 20 can receive the infrared light, photoelectric switch's output 23 is the high level this moment, get into U type groove 24 when anti-dazzling screen 4, receiving terminal 20 then can not receive the infrared light, photoelectric switch's output 23 is the low level this moment, jump from the high level to the low level through monitoring photoelectric switch output 23 can regard the zero position of current electric angle cycle as absolute zero position, thereby realized the absolute zero position function under the multipolar magnet mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210738507.1A CN115046572A (en) | 2022-06-28 | 2022-06-28 | High-resolution electromagnetic angle encoder with absolute zero position and manufacturing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210738507.1A CN115046572A (en) | 2022-06-28 | 2022-06-28 | High-resolution electromagnetic angle encoder with absolute zero position and manufacturing method thereof |
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| Publication Number | Publication Date |
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| CN115046572A true CN115046572A (en) | 2022-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210738507.1A Pending CN115046572A (en) | 2022-06-28 | 2022-06-28 | High-resolution electromagnetic angle encoder with absolute zero position and manufacturing method thereof |
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| Country | Link |
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| CN (1) | CN115046572A (en) |
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- 2022-06-28 CN CN202210738507.1A patent/CN115046572A/en active Pending
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