CN116222624B - Electromagnetic gear multi-turn magnetoelectric encoder and turn counting method thereof - Google Patents
Electromagnetic gear multi-turn magnetoelectric encoder and turn counting method thereof Download PDFInfo
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- CN116222624B CN116222624B CN202310091215.8A CN202310091215A CN116222624B CN 116222624 B CN116222624 B CN 116222624B CN 202310091215 A CN202310091215 A CN 202310091215A CN 116222624 B CN116222624 B CN 116222624B
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- 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
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Abstract
The application provides an electromagnetic gear multi-turn type magneto-electric encoder and a turn counting method thereof, and aims to solve the problem that the current single-turn magneto-electric encoder cannot record the number of turns. The application provides an electrified coil type electromagnetic gear, which uses coils with different numbers and electromagnetic gears to enable the electromagnetic gears to form a reduction ratio relation, uses a Hall element to calculate the rotation number of each electromagnetic gear, and obtains the rotation number of a motor spindle by means of the number counting method. The electromagnetic gear is used in the encoder to replace the traditional mechanical gear, mechanical contact is avoided, mechanical abrasion is avoided, and the electromagnetic gear is almost not required to be maintained, so that the encoder is a reliable, stable and simple-calculation multi-circle magneto-electric encoder.
Description
Technical Field
The application belongs to the field of encoder manufacturing, and particularly relates to an electromagnetic gear multi-turn magnetoelectric encoder and a turn counting method thereof.
Background
In modern industry, the magneto-electric encoder has the advantages of simple structure, strong anti-pollution capability, higher measurement precision and the like, and the application range of the magneto-electric encoder is wider and wider. The magneto-electricity encoder mainly comprises a stator, a rotor, permanent magnet materials, a Hall element, a signal resolving board and the like, wherein the measuring principle is that the angle or displacement change of the permanent magnet is measured by using a Hall element or a magnetic resistance sensor and the like, the variable quantity is amplified by an amplifying circuit, and a single chip microcomputer outputs a pulse signal or an analog quantity signal.
As a very stable measuring device, the current magneto-electric encoder mainly comprises a single-ring magneto-electric encoder, and is more biased to record the real-time absolute position and rotation gesture of the motor. However, this type of magneto-electric encoder has a great limitation in that a single-turn magneto-electric encoder cannot record all the number of rotations of the motor, and in practice, the number of rotations of some specific devices is an important piece of data.
The servo motor in industrial equipment such as a servo system of a mechanical arm, a machine tool screw, an injection molding machine tool, a wind driven generator and the like needs to record the rotation number of the equipment, so that the rotation number of the motor can be immediately acquired when power is supplied again after power is off, and the stroke of the equipment is determined. Even though the external power supply is provided for the magnetoelectric encoder, the external power supply is used for supplying power to the encoder after the main system is powered off, so that the encoder can store data before power off, the single-circle magnetoelectric encoder only can reflect the absolute position of the motor shaft in each circle, and the number of circles in which the motor shaft rotates can not be stored.
Disclosure of Invention
The application provides an electromagnetic gear multi-turn magnetoelectric encoder and a turn counting method thereof, aiming at solving the problem that the current single-turn magnetoelectric encoder cannot record the number of turns. The electromagnetic gears are made of different numbers of energizing coils, a reduction ratio relation is formed among the electromagnetic gears, the number of rotation turns of each electromagnetic gear is obtained by measuring magnetic field signals of the single-pole magnetic steel glued on the side face of each electromagnetic gear, and the number of rotation turns of a motor spindle can be converted through the reduction ratio relation.
The application discloses an electromagnetic gear multi-turn magnetoelectric encoder and a turn counting method thereof, comprising the following steps:
step one: the positive and negative poles of a power supply on the power supply board are electrified, the positive and negative poles of the power supply are connected with the positive and negative poles c1 of an outer ring power supply of the bus ring a by using wires, so that the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are electrified, the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are contacted with the inner ring conductive ring f1, the inner ring b1 is electrified, the positive and negative poles e1 of the inner ring power supply on the inner ring b1 are connected with the coils a1 and a2 distributed on the electromagnetic gear a at intervals of 180 degrees by using wires, and the coils a1 and a2 are electrified; the positive and negative poles of the power supply are connected with the positive and negative poles c2 of the outer ring power supply of the bus ring b by using wires, so that the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are electrified, the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are contacted with the inner ring conductive ring f2, the inner ring b2 is electrified, and the positive and negative poles e2 of the inner ring power supply on the inner ring b2 are connected with the coils b1, b2, b3 and b4 which are distributed on the electromagnetic gear b at intervals of 90 degrees by wires, so that the coils b1, b2, b3 and b4 are electrified; the coils a1, b1 and b3 generate the same-direction magnetic field by controlling the current direction among the coils, and the coils a2, b2 and b4 generate the same-direction magnetic field; connecting a primary transmission shaft with a motor main shaft through a coupler, turning on a motor power switch, and starting the primary transmission shaft to rotate to drive an electromagnetic gear a to rotate; the outer ring of the converging ring a is in clearance fit with the inner ring, the inner ring of the converging ring a rotates along with the primary transmission shaft, and the outer ring of the converging ring a is fixed; the outer ring of the converging ring b is in clearance fit with the inner ring, the inner ring of the converging ring b rotates along with the secondary transmission shaft, and the outer ring of the converging ring b is fixed;
step two: if the electromagnetic gear a rotates clockwise under the drive of the motor spindle:
in the initial state, after the electromagnetic gear a rotates 180 degrees clockwise, the electromagnetic gear b rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a2 and the coil b2 continuously, at the moment, the coil a1 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 180 degrees continuously, the electromagnetic gear b rotates 90 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a1 and the coil b3, at the moment, the electromagnetic gear b rotates 180 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the electromagnetic gear b rotates 90 degrees anticlockwise continuously, and at the moment, the coil a1 corresponds to the coil b1 again; so far, the electromagnetic gear a rotates for 2 circles, and the electromagnetic gear b rotates for 1 circle;
if the electromagnetic gear a rotates anticlockwise under the drive of the motor main shaft:
in the initial state, after the coil a1 corresponds to the coil b1 and the electromagnetic gear a rotates 180 degrees anticlockwise, the electromagnetic gear b rotates 90 degrees clockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 corresponds to the coil b4, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the coil a1 corresponds to the coil b3, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b2, at the moment, the electromagnetic gear b continues to rotate 90 degrees clockwise again under the action of a same-direction magnetic field between the coil a2 and the coil b1; the electromagnetic gear a rotates 2 circles and the electromagnetic gear b rotates 1 circle, and the reduction ratio of the structure is 2;
step three: the single-pair pole magnetic steel a glued on the side surface of the electromagnetic gear a rotates along with the electromagnetic gear a, the single-pair pole Hall a1 and the single-pair pole Hall a2 acquire angle value signals A+ and A-of the single-pair pole magnetic steel a, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals A+ and A-to obtain angle value digital signals HA+ and HA-, and then resolving the obtained angle value digital signals HA+ and HA-to obtain the angle value theta of the single-pair pole magnetic steel a 1 The solution formula is:
the single-pole Hall B1, the single-pole Hall B2 collects angle value signals B+ and B-of the single-pole magnetic steel B, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals B+ and B-to obtain angle value digital signals HB+ and HB-, and then resolving the obtained angle value digital signals HB+ and HB-, to obtain the angle value theta of the single-pole magnetic steel B 2 The solution formula is:
wherein θ is 1 The value range of (2) is [0,1 ]]，θ 2 The value range of (2) is [0,1 ]]By adjusting the angle value theta of a single pair of poles 1 Angle value theta with single pair of poles 2 To determine the number of rotations of the motor spindle.
Step four: the method for recording the number of turns comprises the following steps: using a single pair of pole angle values theta 2 Multiplying the rotation number of the motor spindle by the reduction ratio of the encoder to obtain the rotation number of the motor spindle, wherein the specific calculation formula is as follows:
Q＝θ 2 *T(3)
wherein Q is the number of rotations of the motor spindle, θ 2 The numerical values calculated for the single-pair pole Hall b1 and the single-pair pole Hall b2 are T which is the reduction ratio of the encoder;
step five: in order to ensure the accuracy of the encoder, the application provides a fault power-off protection mechanism, and a specific calculation formula is as follows:
K＝Q-FL(Q)(4)
wherein Q is the number of rotations of the motor spindle, FL is a rounding command, and the rounding mode is an integer smaller than and closest to the current value.
For example, when the angle value of a single pair of poles is theta 2 When the value of (a) is 0.65, it indicates that the electromagnetic gear b rotates 0.65 circle, and when the reduction ratio of the encoder is T, it indicates that the electromagnetic gear a rotates 0.65T circle, and at this time, the single pair of pole angle values theta 1 If the number of (2) is K, the encoder count is correct, and the encoder continues to operate; if the single pair of pole angle values theta 1 If the value of the (a) is not K, the encoder is in error counting, at the moment, the encoder signal resolving board transmits a signal to a central power supply control chip on the power supply board, the power supply of the electromagnetic gear a and the electromagnetic gear b is immediately stopped, so that the electromagnetic gear b loses a magnetic field, and the encoder is stopped;
the beneficial effects of the application are as follows:
1. the electromagnetic gear multi-turn magnetoelectric encoder can reflect the real-time absolute position of the motor spindle during rotation, record the number of rotations of the motor spindle and make up the defect of a single-turn magnetoelectric encoder.
2. The application adds the central power supply control chip on the power supply board, introduces a fault power-off protection mechanism, and immediately cuts off the power supply of the encoder through the central power supply control chip when the encoder fails, thereby ensuring the accuracy of counting.
3. According to the electromagnetic gear, the axial magnetic field is generated by using the coils, the magnetic field intensity and the magnetic field direction can be changed by changing the voltage and the current direction, and the reduction ratio between the electromagnetic gears can be adjusted by changing the number of the coils.
Description of the drawings:
for ease of illustration, the application is described in detail by the following detailed description and the accompanying drawings:
FIG. 1 is a schematic view of the overall structure of the present application;
FIG. 2 is a view showing the internal structure of the present application;
FIG. 3 is a split view of the general structure of the present application;
FIG. 4 is a split view of the important body structure of the present application;
FIG. 5 is a diagram of the electromagnetic gear structure of the present application;
FIG. 6 is a schematic diagram of a power panel and encoder signal resolution panel according to the present application;
FIG. 7 is a view showing a structure of a bus ring a according to the present application;
FIG. 8 is a view showing a structure of a bus ring b according to the present application;
FIG. 9 is a graph showing the correspondence of the number of turns between two electromagnetic gears according to the present application;
FIG. 10 is a graph showing the numerical correspondence between electromagnetic gears of the fail-safe mechanism according to the present application;
in the figure 1, an electromagnetic gear a; 2. a primary transmission shaft; 3. an electromagnetic gear b; 4. a secondary transmission shaft; 5. an encoder signal resolving board; 6. a power supply board; 7. a coupling; 8. a confluence ring a; 9. a bus ring b; 10. an encoder housing; 1-1, a coil a1;1-2, a coil a2;2-1, single-pair pole magnetic steel a;3-1, coil b1;3-2, coil b2;3-3, coil b3;3-4, coil b4;4-1, a single-pair pole magnetic steel b;5-1, single-pair pole Hall a1;5-2, single-pair pole Hall a2;5-3, magnetic shielding plate; 5-4, single-pair pole Hall b1;5-5, a single-pair pole Hall b2;6-1, positive and negative poles of a power supply; 6-2, a central power supply control chip; 8-1, an outer ring a1;8-2, an outer ring a2;8-3, an inner ring b1;8-4, positive and negative poles c1 of an outer ring power supply; 8-5, an outer ring conductive ring d1;8-6, positive and negative electrodes e1 of an inner ring power supply; 8-7, an inner ring conductive ring f1;8-8, an outer ring conductive ring d2;8-9, a connecting column g1;9-1, outer ring a3;9-2, outer ring a4;9-3, an inner ring b2;9-4, positive and negative poles c2 of the outer ring power supply; 9-5, an outer ring conductive ring d3;9-6, an inner ring power supply anode and cathode e2;9-7, an inner ring conductive ring f2;9-8, an outer ring conductive ring d4;9-9, connecting column g2;
the specific embodiment is as follows:
the following describes in detail the embodiments of the present application with reference to the drawings.
The detailed description/examples set forth herein are specific embodiments of the application and are intended to be illustrative and exemplary of the concepts of the application and are not to be construed as limiting the scope of the application. In addition to the embodiments described herein, those skilled in the art will be able to adopt other obvious solutions based on the disclosure of the claims and specification, including any obvious alterations and modifications to the embodiments described herein, all within the scope of the present application.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present application.
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the following technical solutions are adopted in the specific embodiments of the present application:
the electromagnetic gear multi-turn magnetoelectric encoder and the turn counting method thereof are characterized in that: the electromagnetic gear multi-turn magneto-electric encoder comprises an electromagnetic gear a (1), a primary transmission shaft (2), an electromagnetic gear b (3), a secondary transmission shaft (4), an encoder signal resolving plate (5), a power supply plate (6), a coupler (7), a converging ring a (8), a converging ring b (9) and an encoder shell (10); a coil a1 (1-1), a coil a2 (1-2); a single pair of pole magnetic steels a (2-1); coil b1 (3-1), coil b2 (3-2), coil b3 (3-3), coil b4 (3-4); single pair pole magnetic steel b (4-1); a single-pair pole Hall a1 (5-1), a single-pair pole Hall a2 (5-2), a magnetic shielding plate (5-3), a single-pair pole Hall b1 (5-4), and a single-pair pole Hall b2 (5-5); a power supply anode and cathode (6-1), a central power supply control chip (6-2); an outer ring a1 (8-1), an outer ring a2 (8-2), an inner ring b1 (8-3), an outer ring power positive and negative electrode c1 (8-4), an outer ring conductive ring d1 (8-5), an inner ring power positive and negative electrode e1 (8-6), an inner ring conductive ring f1 (8-7), an outer ring conductive ring d2 (8-8) and a connecting column g1 (8-9); an outer ring a3 (9-1), an outer ring a4 (9-2), an inner ring b2 (9-3), an outer ring power positive and negative electrode c2 (9-4), an outer ring conductive ring d3 (9-5), an inner ring power positive and negative electrode e2 (9-6), an inner ring conductive ring f2 (9-7), an outer ring conductive ring d4 (9-8) and a connecting column g2 (9-9); the electromagnetic gear a (1) is fixedly connected with the primary transmission shaft (2), the electromagnetic gear b (3) is fixedly connected with the secondary transmission shaft (4), and the primary transmission shaft (2) and the secondary transmission shaft (4) are both connected with the encoder shell (10) through bearings; the single-pair pole magnetic steel a (2-1) is glued on the side surface of the electromagnetic gear a (1), and the single-pair pole magnetic steel b (4-1) is glued on the side surface of the electromagnetic gear b (3); the single-pair pole Hall a1 (5-1), the single-pair pole Hall a2 (5-2), the magnetism shielding plate (5-3), the single-pair pole Hall b1 (5-4) and the single-pair pole Hall b2 (5-5) are soldered with the encoder signal resolving plate (5); the encoder signal resolving plate (5) and the power supply plate (6) are in threaded connection with the encoder shell (10); the positive electrode and the negative electrode of the power supply (6-1) and the central power supply control chip (6-2) are soldered with the power supply board (6); the converging ring a (8) is fixedly connected with the primary transmission shaft (2), and the converging ring b (9) is fixedly connected with the secondary transmission shaft (4); the specific structure of the converging ring a is as follows: the outer ring a1 (8-1), the outer ring a2 (8-2) and the connecting column g1 (8-9) are connected through hinged holes, the outer ring a1 (8-1) and the outer ring a2 (8-2) are matched to form a bus ring outer ring, the inner ring power supply positive electrode and negative electrode e1 (8-6) are welded with the inner ring b1 (8-3), the outer ring power supply positive electrode and negative electrode c1 (8-4) are welded with the outer ring a1 (8-1) and the outer ring a2 (8-2) in a tin soldering manner, and the outer ring conductive ring d1 (8-5), the outer ring conductive ring d2 (8-8) and the inner ring conductive ring f1 (8-7) are in clearance fit; the specific structure of the confluence ring b is as follows: the outer ring a3 (9-1), the outer ring a4 (9-2) and the connecting column g2 (9-9) are connected through hinged holes, the outer ring a3 (9-1) and the outer ring a4 (9-2) are matched to form a bus ring outer ring, the inner ring power supply positive electrode and negative electrode e2 (9-6) are welded with the inner ring b2 (9-3), the outer ring power supply positive electrode and negative electrode c2 (9-4) are welded with the outer ring a3 (9-1) and the outer ring a4 (9-2) in a tin soldering manner, and the outer ring conductive ring d3 (9-5), the outer ring conductive ring d4 (9-8) and the inner ring conductive ring f2 (9-7) are in clearance fit;
after a power supply on a power supply board (6) is electrified, a positive electrode and a negative electrode (6-1) of the power supply are connected with an outer ring power supply positive electrode and a negative electrode c1 (8-4) on a bus ring a (8) through wires, an outer ring conductive ring d1 (8-5) and an outer ring conductive ring d2 (8-8) of the bus ring a (8) are in contact with an inner ring conductive ring f1 (8-7), so that an inner ring b1 (8-3) is electrified, an inner ring power supply positive electrode and a negative electrode e1 (8-6) on the inner ring b1 (8-3) is connected with two coil wires distributed at intervals of 180 degrees on an electromagnetic gear a (1), so that a coil a1 (1-1) and a coil a2 (1-2) are electrified, and axial magnetic fields with opposite directions are generated; the positive and negative electrodes (6-1) of the power supply are connected with the positive and negative electrodes (c 2) (9-4) of the outer ring power supply on the bus ring b (9) through wires, the outer ring conductive ring d3 (9-5) and the outer ring conductive ring d4 (9-8) of the bus ring b (9) are in contact with the inner ring conductive ring f2 (9-7), so that the inner ring b2 (9-3) is electrified, the positive and negative electrodes (e 2) (9-6) of the inner ring power supply on the inner ring b2 (9-3) are connected with four coil wires with 90-degree intervals on the electromagnetic gear b (3), so that the coil b1 (3-1), the coil b2 (3-2), the coil b3 (3-3) and the coil b4 (3-4) are electrified, and an axial magnetic field is generated; the motor main shaft is connected with a primary transmission shaft (2) through a coupler (7) to drive an electromagnetic gear a (1) to rotate, and the electromagnetic gear b (3) is driven to rotate through the magnetic field cooperation among a coil a1 (1-1), a coil a2 (1-2), a coil b1 (3-1), a coil b2 (3-2), a coil b3 (3-3) and a coil b4 (3-4); the single-pair pole magnetic steel a (2-1) glued on the side surface of the electromagnetic gear a (1) and the single-pair pole magnetic steel b (4-1) glued on the side surface of the electromagnetic gear b (3) rotate along with the single-pair pole magnetic steel a (5-1), the single-pair pole Hall a2 (5-2) receives the magnetic field signal of the single-pair pole magnetic steel a (2-1), the single-pair pole Hall b1 (5-4) and the single-pair pole Hall b2 (5-5) receive the magnetic field signal of the single-pair pole magnetic steel b (4-1);
the utility model provides an electromagnetic gear multiturn formula magnetoelectric encoder and count number of turns method thereof, this method is applied to magnetoelectric encoder field:
an electromagnetic gear multi-turn magnetoelectric encoder and a turn counting method thereof, wherein the specific implementation process of the method comprises the following steps:
step one: the positive and negative poles of a power supply on the power supply board are electrified, the positive and negative poles of the power supply are connected with the positive and negative poles c1 of an outer ring power supply of the bus ring a by using wires, so that the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are electrified, the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are contacted with the inner ring conductive ring f1, the inner ring b1 is electrified, the positive and negative poles e1 of the inner ring power supply on the inner ring b1 are connected with the coils a1 and a2 distributed on the electromagnetic gear a at intervals of 180 degrees by using wires, and the coils a1 and a2 are electrified; the positive and negative poles of the power supply are connected with the positive and negative poles c2 of the outer ring power supply of the bus ring b by using wires, so that the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are electrified, the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are contacted with the inner ring conductive ring f2, the inner ring b2 is electrified, and the positive and negative poles e2 of the inner ring power supply on the inner ring b2 are connected with the coils b1, b2, b3 and b4 which are distributed on the electromagnetic gear b at intervals of 90 degrees by wires, so that the coils b1, b2, b3 and b4 are electrified; the coils a1, b1 and b3 generate the same-direction magnetic field by controlling the current direction among the coils, and the coils a2, b2 and b4 generate the same-direction magnetic field; connecting a primary transmission shaft with a motor main shaft through a coupler, turning on a motor power switch, and starting the primary transmission shaft to rotate to drive an electromagnetic gear a to rotate; the outer ring of the converging ring a is in clearance fit with the inner ring, the inner ring of the converging ring a rotates along with the primary transmission shaft, and the outer ring of the converging ring a is fixed; the outer ring of the converging ring b is in clearance fit with the inner ring, the inner ring of the converging ring b rotates along with the secondary transmission shaft, and the outer ring of the converging ring b is fixed;
step two: if the electromagnetic gear a rotates clockwise under the drive of the motor spindle:
in the initial state, after the electromagnetic gear a rotates 180 degrees clockwise, the electromagnetic gear b rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a2 and the coil b2 continuously, at the moment, the coil a1 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 180 degrees continuously, the electromagnetic gear b rotates 90 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a1 and the coil b3, at the moment, the electromagnetic gear b rotates 180 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the electromagnetic gear b rotates 90 degrees anticlockwise continuously, and at the moment, the coil a1 corresponds to the coil b1 again; so far, the electromagnetic gear a rotates for 2 circles, and the electromagnetic gear b rotates for 1 circle;
if the electromagnetic gear a rotates anticlockwise under the drive of the motor main shaft:
in the initial state, after the coil a1 corresponds to the coil b1 and the electromagnetic gear a rotates 180 degrees anticlockwise, the electromagnetic gear b rotates 90 degrees clockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 corresponds to the coil b4, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the coil a1 corresponds to the coil b3, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b2, at the moment, the electromagnetic gear b continues to rotate 90 degrees clockwise again under the action of a same-direction magnetic field between the coil a2 and the coil b1; the electromagnetic gear a rotates 2 circles and the electromagnetic gear b rotates 1 circle, and the reduction ratio of the structure is 2;
step three: the single-pair pole magnetic steel a glued on the side surface of the electromagnetic gear a rotates along with the electromagnetic gear a, the single-pair pole Hall a1 and the single-pair pole Hall a2 acquire angle value signals A+ and A-of the single-pair pole magnetic steel a, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals A+ and A-to obtain angle value digital signals HA+ and HA-, and then resolving the obtained angle value digital signals HA+ and HA-to obtain the angle value theta of the single-pair pole magnetic steel a 1 The solution formula is:
the single-pole Hall B1, the single-pole Hall B2 collects angle value signals B+ and B-of the single-pole magnetic steel B, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals B+ and B-to obtain angle value digital signals HB+ and HB-, and then resolving the obtained angle value digital signals HB+ and HB-, to obtain the angle value theta of the single-pole magnetic steel B 2 The solution formula is:
wherein θ is 1 The value range of (2) is [0,1 ]]，θ 2 The value range of (2) is [0,1 ]]By adjusting the angle value theta of a single pair of poles 1 And single sheetOpposite pole angle value theta 2 To determine the number of rotations of the motor spindle.
Step four: the method for recording the number of turns comprises the following steps: using a single pair of pole angle values theta 2 Multiplying the rotation number of the motor spindle by the reduction ratio of the encoder to obtain the rotation number of the motor spindle, wherein the specific calculation formula is as follows:
Q＝θ 2 *T(3)
wherein Q is the number of rotations of the motor spindle, θ 2 The numerical values calculated for the single-pair pole Hall b1 and the single-pair pole Hall b2 are T which is the reduction ratio of the encoder;
step five: in order to ensure the accuracy of the encoder, the application provides a fault power-off protection mechanism, and a specific calculation formula is as follows:
K＝Q-FL(Q)(4)
wherein Q is the number of rotations of the motor spindle, FL is a rounding command, and the rounding mode is an integer smaller than and closest to the current value.
For example, when the angle value of a single pair of poles is theta 2 When the value of (a) is 0.65, it means that the electromagnetic gear b rotates 0.65 circle, and when the reduction ratio of the encoder is 2, it means that the electromagnetic gear a rotates 0.65 x 2 circle, and at this time, the single pair of pole angle values theta 1 If the value of (2) is 0.3, the encoder count is correct, and the encoder continues to operate; if the single pair of pole angle values theta 1 If the numerical value of the signal is not 0.3, the signal is transmitted to a central power control chip on the power supply board by the encoder signal resolving board, the power supply of the electromagnetic gear a and the electromagnetic gear b is immediately stopped, so that the magnetic field is lost, and the encoder is stopped;
the foregoing has shown and described the basic principles and main features of the present application and the advantages of the present application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (2)
1. The electromagnetic gear multi-turn magnetoelectric encoder is characterized by comprising an electromagnetic gear a (1), a primary transmission shaft (2), an electromagnetic gear b (3), a secondary transmission shaft (4), an encoder signal resolving plate (5), a power supply plate (6), a coupler (7), a converging ring a (8), a converging ring b (9) and an encoder shell (10); a coil a1 (1-1), a coil a2 (1-2); a single pair of pole magnetic steels a (2-1); coil b1 (3-1), coil b2 (3-2), coil b3 (3-3), coil b4 (3-4); single pair pole magnetic steel b (4-1); a single-pair pole Hall a1 (5-1), a single-pair pole Hall a2 (5-2), a magnetic shielding plate (5-3), a single-pair pole Hall b1 (5-4), and a single-pair pole Hall b2 (5-5); a power supply anode and cathode (6-1), a central power supply control chip (6-2); an outer ring a1 (8-1), an outer ring a2 (8-2), an inner ring b1 (8-3), an outer ring power positive and negative electrode c1 (8-4), an outer ring conductive ring d1 (8-5), an inner ring power positive and negative electrode e1 (8-6), an inner ring conductive ring f1 (8-7), an outer ring conductive ring d2 (8-8) and a connecting column g1 (8-9); an outer ring a3 (9-1), an outer ring a4 (9-2), an inner ring b2 (9-3), an outer ring power positive and negative electrode c2 (9-4), an outer ring conductive ring d3 (9-5), an inner ring power positive and negative electrode e2 (9-6), an inner ring conductive ring f2 (9-7), an outer ring conductive ring d4 (9-8) and a connecting column g2 (9-9); the electromagnetic gear a (1) is fixedly connected with the primary transmission shaft (2), the electromagnetic gear b (3) is fixedly connected with the secondary transmission shaft (4), and the primary transmission shaft (2) and the secondary transmission shaft (4) are both connected with the encoder shell (10) through bearings; the single-pair pole magnetic steel a (2-1) is glued on the side surface of the electromagnetic gear a (1), and the single-pair pole magnetic steel b (4-1) is glued on the side surface of the electromagnetic gear b (3); the single-pair pole Hall a1 (5-1), the single-pair pole Hall a2 (5-2), the magnetism shielding plate (5-3), the single-pair pole Hall b1 (5-4) and the single-pair pole Hall b2 (5-5) are soldered with the encoder signal resolving plate (5); the encoder signal resolving plate (5) and the power supply plate (6) are in threaded connection with the encoder shell (10); the positive electrode and the negative electrode of the power supply (6-1) and the central power supply control chip (6-2) are soldered with the power supply board (6); the converging ring a (8) is fixedly connected with the primary transmission shaft (2), and the converging ring b (9) is fixedly connected with the secondary transmission shaft (4); the specific structure of the converging ring a is as follows: the outer ring a1 (8-1), the outer ring a2 (8-2) and the connecting column g1 (8-9) are connected through hinged holes, the outer ring a1 (8-1) and the outer ring a2 (8-2) are matched to form a bus ring outer ring, the inner ring power supply positive electrode and negative electrode e1 (8-6) are welded with the inner ring b1 (8-3), the outer ring power supply positive electrode and negative electrode c1 (8-4) are welded with the outer ring a1 (8-1) and the outer ring a2 (8-2) in a tin soldering manner, and the outer ring conductive ring d1 (8-5), the outer ring conductive ring d2 (8-8) and the inner ring conductive ring f1 (8-7) are in clearance fit; the specific structure of the confluence ring b is as follows: the outer ring a3 (9-1), the outer ring a4 (9-2) and the connecting column g2 (9-9) are connected through hinged holes, the outer ring a3 (9-1) and the outer ring a4 (9-2) are matched to form a bus ring outer ring, the inner ring power supply positive electrode and negative electrode e2 (9-6) are welded with the inner ring b2 (9-3), the outer ring power supply positive electrode and negative electrode c2 (9-4) are welded with the outer ring a3 (9-1) and the outer ring a4 (9-2) in a tin soldering manner, and the outer ring conductive ring d3 (9-5), the outer ring conductive ring d4 (9-8) and the inner ring conductive ring f2 (9-7) are in clearance fit;
after a power supply on a power supply board (6) is electrified, a positive electrode and a negative electrode (6-1) of the power supply are connected with an outer ring power supply positive electrode and a negative electrode c1 (8-4) on a bus ring a (8) through wires, an outer ring conductive ring d1 (8-5) and an outer ring conductive ring d2 (8-8) of the bus ring a (8) are in contact with an inner ring conductive ring f1 (8-7), so that an inner ring b1 (8-3) is electrified, an inner ring power supply positive electrode and a negative electrode e1 (8-6) on the inner ring b1 (8-3) is connected with two coil wires distributed at intervals of 180 degrees on an electromagnetic gear a (1), so that a coil a1 (1-1) and a coil a2 (1-2) are electrified, and axial magnetic fields with opposite directions are generated; the positive and negative electrodes (6-1) of the power supply are connected with the positive and negative electrodes (c 2) (9-4) of the outer ring power supply on the bus ring b (9) through wires, the outer ring conductive ring d3 (9-5) and the outer ring conductive ring d4 (9-8) of the bus ring b (9) are in contact with the inner ring conductive ring f2 (9-7), so that the inner ring b2 (9-3) is electrified, the positive and negative electrodes (e 2) (9-6) of the inner ring power supply on the inner ring b2 (9-3) are connected with four coil wires with 90-degree intervals on the electromagnetic gear b (3), so that the coil b1 (3-1), the coil b2 (3-2), the coil b3 (3-3) and the coil b4 (3-4) are electrified, and an axial magnetic field is generated; the motor main shaft is connected with a primary transmission shaft (2) through a coupler (7) to drive an electromagnetic gear a (1) to rotate, and the electromagnetic gear b (3) is driven to rotate through the magnetic field cooperation among a coil a1 (1-1), a coil a2 (1-2), a coil b1 (3-1), a coil b2 (3-2), a coil b3 (3-3) and a coil b4 (3-4); the single-pair pole magnetic steel a (2-1) glued on the side surface of the electromagnetic gear a (1) and the single-pair pole magnetic steel b (4-1) glued on the side surface of the electromagnetic gear b (3) rotate along with the single-pair pole magnetic steel a (5-1), the single-pair pole Hall a2 (5-2) receives magnetic field signals of the single-pair pole magnetic steel a (2-1), the single-pair pole Hall b1 (5-4) and the single-pair pole Hall b2 (5-5) receive magnetic field signals of the single-pair pole magnetic steel b (4-1).
2. A method for counting turns of an electromagnetic gear multi-turn magnetoelectric encoder, characterized in that the method comprises the following steps:
step one: the positive and negative poles of a power supply on the power supply board are electrified, the positive and negative poles of the power supply are connected with the positive and negative poles c1 of an outer ring power supply of the bus ring a by using wires, so that the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are electrified, the outer ring conductive ring d1 and the outer ring conductive ring d2 of the bus ring a are contacted with the inner ring conductive ring f1, the inner ring b1 is electrified, the positive and negative poles e1 of the inner ring power supply on the inner ring b1 are connected with the coils a1 and a2 distributed on the electromagnetic gear a at intervals of 180 degrees by using wires, and the coils a1 and a2 are electrified; the positive and negative poles of the power supply are connected with the positive and negative poles c2 of the outer ring power supply of the bus ring b by using wires, so that the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are electrified, the outer ring conductive ring d3 and the outer ring conductive ring d4 of the bus ring b are contacted with the inner ring conductive ring f2, the inner ring b2 is electrified, and the positive and negative poles e2 of the inner ring power supply on the inner ring b2 are connected with the coils b1, b2, b3 and b4 which are distributed on the electromagnetic gear b at intervals of 90 degrees by wires, so that the coils b1, b2, b3 and b4 are electrified; the coils a1, b1 and b3 generate the same-direction magnetic field by controlling the current direction among the coils, and the coils a2, b2 and b4 generate the same-direction magnetic field; connecting a primary transmission shaft with a motor main shaft through a coupler, turning on a motor power switch, and starting the primary transmission shaft to rotate to drive an electromagnetic gear a to rotate; the outer ring of the converging ring a is in clearance fit with the inner ring, the inner ring of the converging ring a rotates along with the primary transmission shaft, and the outer ring of the converging ring a is fixed; the outer ring of the converging ring b is in clearance fit with the inner ring, the inner ring of the converging ring b rotates along with the secondary transmission shaft, and the outer ring of the converging ring b is fixed;
step two: if the electromagnetic gear a rotates clockwise under the drive of the motor spindle: in the initial state, after the electromagnetic gear a rotates 180 degrees clockwise, the electromagnetic gear b rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 90 degrees anticlockwise under the action of a same-direction magnetic field between the coil a2 and the coil b2 continuously, at the moment, the coil a1 rotates 180 degrees clockwise continuously, after the electromagnetic gear a rotates 180 degrees continuously, the electromagnetic gear b rotates 90 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a1 and the coil b3, at the moment, the electromagnetic gear b rotates 180 degrees anticlockwise continuously under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the electromagnetic gear b rotates 90 degrees anticlockwise continuously, and at the moment, the coil a1 corresponds to the coil b1 again; so far, the electromagnetic gear a rotates for 2 circles, and the electromagnetic gear b rotates for 1 circle;
if the electromagnetic gear a rotates anticlockwise under the drive of the motor main shaft:
in the initial state, after the coil a1 corresponds to the coil b1 and the electromagnetic gear a rotates 180 degrees anticlockwise, the electromagnetic gear b rotates 90 degrees clockwise under the action of a same-direction magnetic field between the coil a1 and the coil b1, at the moment, the coil a2 corresponds to the coil b4, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b4, at the moment, the coil a1 corresponds to the coil b3, after the electromagnetic gear a continues to rotate 180 degrees anticlockwise, the electromagnetic gear b continues to rotate 90 degrees under the action of a same-direction magnetic field between the coil a2 and the coil b2, at the moment, the electromagnetic gear b continues to rotate 90 degrees clockwise again under the action of a same-direction magnetic field between the coil a2 and the coil b1; the electromagnetic gear a rotates 2 circles and the electromagnetic gear b rotates 1 circle, and the reduction ratio of the structure is 2;
step three: the single-pair pole magnetic steel a glued on the side surface of the electromagnetic gear a rotates along with the electromagnetic gear a, the single-pair pole Hall a1 and the single-pair pole Hall a2 acquire angle value signals A+ and A-of the single-pair pole magnetic steel a, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals A+ and A-to obtain angle value digital signals HA+ and HA-, and then resolving the obtained angle value digital signals HA+ and HA-to obtain the angle value theta of the single-pair pole magnetic steel a 1 The solution formula is:
the single-pole Hall B1, the single-pole Hall B2 collects angle value signals B+ and B-of the single-pole magnetic steel B, the encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals B+ and B-to obtain angle value digital signals HB+ and HB-, and then resolving the obtained angle value digital signals HB+ and HB-, to obtain the angle value theta of the single-pole magnetic steel B 2 The solution formula is:
wherein θ is 1 The value range of (2) is [0,1 ]]，θ 2 The value range of (2) is [0,1 ]]By adjusting the angle value theta of a single pair of poles 1 Angle value theta with single pair of poles 2 Judging the number of rotations of the motor spindle;
step four: the method for recording the number of turns comprises the following steps: using a single pair of pole angle values theta 2 Multiplying the rotation number of the motor spindle by the reduction ratio of the encoder to obtain the rotation number of the motor spindle, wherein the specific calculation formula is as follows:
Q＝θ 2 *T(3)
wherein Q is the number of rotations of the motor spindle, θ 2 The numerical values calculated for the single-pair pole Hall b1 and the single-pair pole Hall b2 are T which is the reduction ratio of the encoder;
step five: in order to ensure the accuracy of the encoder, the application provides a fault power-off protection mechanism, and a specific calculation formula is as follows:
K＝Q-FL(Q)(4)
wherein Q is the number of rotations of the motor spindle, FL is a rounding command, and the rounding mode is an integer smaller than and closest to the current value.
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