CN116222624B - An electromagnetic gear multi-turn magnetoelectric encoder and its turn counting method - Google Patents
An electromagnetic gear multi-turn magnetoelectric encoder and its turn counting method Download PDFInfo
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Abstract
Description
技术领域Technical field
本发明属于编码器制造领域，具体涉及一种电磁齿轮多圈式磁电编码器及其计圈数方法。The invention belongs to the field of encoder manufacturing, and specifically relates to an electromagnetic gear multi-turn magnetoelectric encoder and a turn counting method thereof.
背景技术Background technique
在现代工业中，因磁电编码器具有结构简单、抗污染能力强、测量精度较高等诸多优点，其应用范围也越来越广泛。磁电编码器主要包括定子、转子、永磁体材料、霍尔元件、信号解算板等，其测量原理是通过使用霍尔元件或磁阻等传感器，测量永磁体的角度或位移的变化，再通过放大电路对变化量进行放大，单片机就会输出脉冲信号或模拟量信号。In modern industry, because magnetoelectric encoders have many advantages such as simple structure, strong anti-pollution ability, and high measurement accuracy, their application scope is becoming more and more extensive. The magnetoelectric encoder mainly includes the stator, rotor, permanent magnet material, Hall element, signal solution board, etc. Its measurement principle is to measure the angle or displacement change of the permanent magnet by using sensors such as Hall element or magnetoresistive, and then Through the amplification circuit to amplify the change, the microcontroller will output a pulse signal or analog signal.
作为一种很稳定的测量装置，目前的磁电编码器主要是以单圈式磁电编码器为主，更偏重于记录电机的实时绝对位置以及转动姿态。但是这种磁电编码器具有很大的局限性，单圈式磁电编码器不能够记录下电机的所有旋转圈数，而在实际工作中，一些特定设备的旋转圈数是很重要的一个数据。As a very stable measuring device, current magnetoelectric encoders are mainly single-turn magnetoelectric encoders, which focus more on recording the real-time absolute position and rotational attitude of the motor. However, this kind of magnetoelectric encoder has great limitations. The single-turn magnetoelectric encoder cannot record all the rotations of the motor. In actual work, the number of rotations of some specific equipment is very important. data.
在机械手臂的伺服系统、机床丝杠、注塑机床、风力发电机等工业设备中的伺服电机就需要记录设备的旋转圈数，保证在断电后再次供电时能够立即获取电机旋转圈数，用以确定设备的行程。即使通过给磁电编码器提供外界电源，保证在主系统断电后，使用外界电源给编码器供电，使其能够保存住断电前的数据，但是单圈式磁电编码器只能反映出电机轴在每一圈内的绝对位置，仍然无法保存记录电机轴旋转过的圈数。Servo motors in industrial equipment such as servo systems of robotic arms, machine tool screws, injection molding machine tools, wind turbines, etc. need to record the number of rotations of the equipment to ensure that the number of rotations of the motor can be obtained immediately when power is restored after a power outage. Use to determine the device's travel. Even if an external power supply is provided to the magnetoelectric encoder to ensure that after the main system is powered off, the external power supply is used to power the encoder so that it can save the data before the power outage. However, the single-turn magnetoelectric encoder can only reflect The absolute position of the motor shaft in each revolution still cannot be saved to record the number of revolutions the motor shaft has rotated.
发明内容Contents of the invention
针对上述问题，本发明提出了一种电磁齿轮多圈式磁电编码器及其计圈数方法，旨在解决当前的单圈式磁电编码器不能记录旋转圈数的问题。通过使用个数不同的通电线圈制成的电磁齿轮，使得多个电磁齿轮间形成一种减速比的关系，通过测量胶接在每个电磁齿轮侧面的单对极磁钢的磁场信号，得到每个电磁齿轮的旋转圈数，再通过减速比的关系就能换算出电机主轴的旋转圈数。In response to the above problems, the present invention proposes an electromagnetic gear multi-turn magnetoelectric encoder and a counting method thereof, aiming to solve the problem that the current single-turn magnetoelectric encoder cannot record the number of rotations. By using electromagnetic gears made of different numbers of energized coils, a reduction ratio relationship is formed between multiple electromagnetic gears. By measuring the magnetic field signal of a single pair of pole magnets glued to the side of each electromagnetic gear, each electromagnetic gear is obtained. The number of rotations of the electromagnetic gear can be converted into the number of rotations of the motor main shaft through the relationship between the reduction ratio.
本发明公布了一种电磁齿轮多圈式磁电编码器及其计圈数方法，包括以下步骤：The invention discloses an electromagnetic gear multi-turn magnetoelectric encoder and its turn counting method, which includes the following steps:
步骤一：供电板上的供电电源正负极通电，供电电源正负极与汇流环a的外圈电源正负极c1使用导线连接使得汇流环a的外圈导电环d1、外圈导电环d2带电，汇流环a的外圈导电环d1、外圈导电环d2与内圈导电环f1接触，使得内圈b1带电，内圈b1上的内圈电源正负极e1与电磁齿轮a上间隔180°分布的线圈a1、线圈a2使用导线连接，使得线圈a1、线圈a2带电；供电电源正负极与汇流环b的外圈电源正负极c2使用导线连接使得汇流环b的外圈导电环d3、外圈导电环d4带电，汇流环b的外圈导电环d3、外圈导电环d4与内圈导电环f2接触，使得内圈b2带电，内圈b2上的内圈电源正负极e2与电磁齿轮b上间隔90°分布的线圈b1、线圈b2、线圈b3、线圈b4导线连接，使得线圈b1、线圈b2、线圈b3、线圈b4带电；通过控制线圈之间的电流方向，使得线圈a1、线圈b1、线圈b3产生同向磁场，线圈a2、线圈b2、线圈b4产生同向磁场；将一级传动轴通过联轴器与电机主轴连接，打开电机电源开关，一级传动轴开始旋转，带动电磁齿轮a旋转；汇流环a的外圈与内圈间隙配合，汇流环a内圈随着一级传动轴旋转，汇流环a外圈固定不动；汇流环b的外圈与内圈间隙配合，汇流环b内圈随着二级传动轴旋转，汇流环b外圈固定不动；Step 1: The positive and negative poles of the power supply on the power supply board are energized. The positive and negative poles of the power supply are connected to the positive and negative poles c1 of the outer ring power supply of bus ring a using wires so that the outer conductive ring d1 and outer conductive ring d2 of bus ring a are connected. When the bus ring a is charged, the outer conductive ring d1 and the outer conductive ring d2 of the bus ring a are in contact with the inner conductive ring f1, so that the inner ring b1 is charged. The positive and negative poles e1 of the inner ring power supply on the inner ring b1 are spaced 180 degrees from the electromagnetic gear a. The coils a1 and a2 distributed in ° are connected with wires to make the coils a1 and coil a2 charged; the positive and negative poles of the power supply are connected with the positive and negative poles c2 of the outer power supply of bus ring b using wires to make the outer conductive ring d3 of bus ring b , the outer conductive ring d4 is charged, the outer conductive ring d3 and the outer conductive ring d4 of the bus ring b are in contact with the inner conductive ring f2, so that the inner ring b2 is charged, and the inner ring power supply positive and negative electrodes e2 on the inner ring b2 are in contact with The coils b1, coil b2, coil b3, and coil b4 distributed at 90° intervals on the electromagnetic gear b are connected by wires, so that the coils b1, coil b2, coil b3, and coil b4 are charged; by controlling the direction of the current between the coils, the coils a1, Coils b1 and b3 generate magnetic fields in the same direction, and coils a2, coil b2, and coil b4 generate magnetic fields in the same direction; connect the primary transmission shaft to the motor main shaft through the coupling, turn on the motor power switch, and the primary transmission shaft begins to rotate, driving The electromagnetic gear a rotates; the outer ring and the inner ring of the converging ring a have a clearance fit, the inner ring of the converging ring a rotates with the primary transmission shaft, and the outer ring of the converging ring a is fixed; the outer ring and the inner ring of the converging ring b have a clearance fit. , the inner ring of the converging ring b rotates with the secondary transmission shaft, and the outer ring of the converging ring b is fixed;
步骤二：若电磁齿轮a在电机主轴带动下顺时针旋转时：Step 2: If the electromagnetic gear a rotates clockwise driven by the motor main shaft:
初始状态下，线圈a1与线圈b1对应，电磁齿轮a顺时针旋转180°后，电磁齿轮b在线圈a1与线圈b1之间的同向磁场作用下逆时针旋转90°，此时线圈a2与线圈b2对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a2与线圈b2的同向磁场作用下继续逆时针旋转90°，此时线圈a1与线圈b3对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a1与线圈b3的同向磁场作用下继续逆时针旋转90°，此时线圈a2与线圈b4对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a2与线圈b4的同向磁场作用下继续逆时针旋转90°，此时线圈a1与线圈b1再次对应；至此电磁齿轮a旋转了2圈，电磁齿轮b旋转了1圈；In the initial state, coil a1 corresponds to coil b1. After electromagnetic gear a rotates 180° clockwise, electromagnetic gear b rotates counterclockwise 90° under the action of the same magnetic field between coil a1 and coil b1. At this time, coil a2 and coil Corresponding to b2, after electromagnetic gear a continues to rotate 180° clockwise, electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of coil a2 and coil b2. At this time, coil a1 corresponds to coil b3, and electromagnetic gear a continues to rotate clockwise. After the clockwise rotation is 180°, the electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of the coil a1 and the coil b3. At this time, the coil a2 corresponds to the coil b4. After the electromagnetic gear a continues to rotate 180° clockwise, the electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of coil a2 and coil b4. At this time, coil a1 and coil b1 correspond again; so far, electromagnetic gear a has rotated 2 turns, and electromagnetic gear b has rotated 1 turn;
若电磁齿轮a在电机主轴带动下逆时针旋转时：If the electromagnetic gear a rotates counterclockwise driven by the motor main shaft:
初始状态下，线圈a1与线圈b1对应，电磁齿轮a逆时针旋转180°后，电磁齿轮b在线圈a1与线圈b1之间的同向磁场作用下顺时针旋转90°，此时线圈a2与线圈b4对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a2与线圈b4的同向磁场作用下继续顺时针旋转90°，此时线圈a1与线圈b3对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a1与线圈b3的同向磁场作用下继续顺时针旋转90°，此时线圈a2与线圈b2对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a2与线圈b2的同向磁场作用下继续顺时针旋转90°，此时线圈a1与线圈b1再次对应；至此电磁齿轮a旋转了2圈，电磁齿轮b旋转了1圈，此结构的减速比为2；In the initial state, coil a1 corresponds to coil b1. After electromagnetic gear a rotates 180° counterclockwise, electromagnetic gear b rotates 90° clockwise under the action of the same magnetic field between coil a1 and coil b1. At this time, coil a2 and coil Corresponding to b4, after electromagnetic gear a continues to rotate 180° counterclockwise, electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of coil a2 and coil b4. At this time, coil a1 corresponds to coil b3, and electromagnetic gear a continues to rotate counterclockwise. After the clockwise rotation is 180°, the electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of the coil a1 and the coil b3. At this time, the coil a2 corresponds to the coil b2. After the electromagnetic gear a continues to rotate 180° counterclockwise, the electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of coil a2 and coil b2. At this time, coil a1 and coil b1 correspond again; so far, electromagnetic gear a has rotated 2 turns, and electromagnetic gear b has rotated 1 turn. The structure of this structure The reduction ratio is 2;
步骤三：胶接在电磁齿轮a侧面的单对极磁钢a随着电磁齿轮a旋转，单对极霍尔a1，单对极霍尔a2采集单对极磁钢a的角度值信号A+、A-，编码器信号解算板对角度值模拟信号A+、A-进行模数转换，得到角度值数字信号HA+、HA-，再对得到的角度值数字信号HA+、HA-，进行解算，得到单对极磁钢a角度值θ1，解算公式为：Step 3: The single-pair pole magnet a glued to the side of the electromagnetic gear a rotates with the electromagnetic gear a. The single-pair pole Hall a1 and the single-pair pole Hall a2 collect the angle value signals A+ and A-, the encoder signal solution board performs analog-to-digital conversion on the angle value analog signals A+ and A- to obtain the angle value digital signals HA+ and HA-, and then solves the obtained angle value digital signals HA+ and HA-. Obtain the angle value θ 1 of the single pole magnet a, and the solution formula is:
单对极霍尔b1，单对极霍尔b2采集单对极磁钢b的角度值信号B+、B-，编码器信号解算板对角度值模拟信号B+、B-进行模数转换，得到角度值数字信号HB+、HB-，再对得到的角度值数字信号HB+、HB-，进行解算，得到单对极磁钢b角度值θ2，解算公式为：The single pole Hall b1 and the single pole Hall b2 collect the angle value signals B+ and B- of the single pole magnet b. The encoder signal solution board performs analog-to-digital conversion on the angle value analog signals B+ and B-, and we get Angle value digital signals HB+, HB-, and then solve the obtained angle value digital signals HB+, HB- to obtain the single pair pole magnet b angle value θ 2. The solution formula is:
其中θ1的取值范围为[0，1]，θ2的取值范围为[0，1]，通过对单对极角度值θ1与单对极角度值θ2的数值组合，来判断电机主轴的旋转圈数。The value range of θ 1 is [0, 1], and the value range of θ 2 is [0, 1]. It is judged by the numerical combination of the single epipolar angle value θ 1 and the single epipolar angle value θ 2 The number of rotations of the motor spindle.
步骤四：记录圈数方法为：用单对极角度值θ2与此编码器的减速比相乘，得到电机主轴的旋转圈数，具体计算公式为：Step 4: The method for recording the number of turns is: multiply the single pole angle value θ 2 by the reduction ratio of this encoder to get the number of rotations of the motor spindle. The specific calculation formula is:
Q＝θ2*T(3)Q＝θ 2 *T(3)
其中,Q为电机主轴的旋转圈数，θ2为单对极霍尔b1、单对极霍尔b2解算出的数值，T为编码器的减速比；Among them, Q is the number of rotations of the motor spindle, θ 2 is the value calculated by the single pole Hall b1 and the single pole Hall b2, and T is the reduction ratio of the encoder;
步骤五：为了保证此编码器的精确性，本发明给出了一种故障断电保护机制，具体计算公式为：Step 5: In order to ensure the accuracy of the encoder, the present invention provides a fault power-off protection mechanism. The specific calculation formula is:
K＝Q-FL(Q)(4)K＝Q-FL(Q)(4)
其中，Q为电机主轴的旋转圈数，FL为取整命令，具体取整方式为取小于当前值且距当前值最近的整数。Among them, Q is the number of rotations of the motor spindle, and FL is the rounding command. The specific rounding method is to take the integer that is smaller than the current value and closest to the current value.
举例为，当单对极角度值θ2的数值为0.65时，表示电磁齿轮b旋转了0.65圈，此编码器的减速比为T，则表示电磁齿轮a旋转了0.65*T圈，此时，单对极角度值θ1的数值若为K，则表示此编码器计数是正确的，编码器继续运行；若此时单对极角度值θ1的数值不是K，则表示编码器计数错误，此时，编码器信号解算板向供电板上的中央电源控制芯片传输信号，立即停止电磁齿轮a，电磁齿轮b的供电，使其失去磁场，编码器停机；For example, when the single epipolar angle value θ 2 is 0.65, it means that the electromagnetic gear b rotates 0.65 circles. The reduction ratio of this encoder is T, which means that the electromagnetic gear a rotates 0.65*T circles. At this time, If the value of the single pole angle value θ 1 is K, it means that the encoder counting is correct and the encoder continues to run; if the value of the single pole angle value θ 1 is not K, it means that the encoder counting is wrong. At this time, the encoder signal resolution board transmits a signal to the central power control chip on the power supply board, and immediately stops the power supply of electromagnetic gear a and electromagnetic gear b, causing them to lose their magnetic field and the encoder stops;
本发明的有益效果为：The beneficial effects of the present invention are:
1.本发明的电磁齿轮多圈式磁电编码器既能够反映电机主轴旋转时的实时绝对位置，又能记录电机主轴的旋转圈数，弥补了单圈式磁电编码器的缺点。1. The electromagnetic gear multi-turn magnetoelectric encoder of the present invention can not only reflect the real-time absolute position of the motor spindle when it rotates, but also record the number of rotations of the motor spindle, making up for the shortcomings of the single-turn magnetoelectric encoder.
2.本发明在供电板上加入了中央电源控制芯片，引入了故障断电保护机制，当编码器出现故障时，通过中央电源控制芯片会立即切断编码器的电源，保证计数的准确性。2. The present invention adds a central power control chip to the power supply board and introduces a fault power-off protection mechanism. When the encoder fails, the central power control chip will immediately cut off the power supply of the encoder to ensure the accuracy of counting.
3.本发明的电磁齿轮通过使用线圈产生轴向磁场，通过改变电压与电流方向就能改变磁场强度与磁场方向，通过改变线圈的个数能调节电磁齿轮间的减速比，与传统机械齿轮相比，电磁齿轮间无机械接触，不会造成机械损耗，几乎不需要维护，安装方便、使用寿命长。3. The electromagnetic gear of the present invention generates an axial magnetic field by using coils. By changing the direction of voltage and current, the magnetic field intensity and direction can be changed. By changing the number of coils, the reduction ratio between the electromagnetic gears can be adjusted, which is different from traditional mechanical gears. There is no mechanical contact between electromagnetic gears, no mechanical loss, almost no maintenance required, easy installation and long service life.
附图说明：Picture description:
为了易于说明，本发明由下述的具体实施及附图作以详细描述：For ease of explanation, the present invention is described in detail by the following specific implementations and drawings:
图1为本发明所述总体结构示意图；Figure 1 is a schematic diagram of the overall structure of the present invention;
图2为本发明所述内部结构图；Figure 2 is an internal structure diagram of the present invention;
图3为本发明所述总体结构拆分图；Figure 3 is an exploded view of the overall structure of the present invention;
图4为本发明所述重要主体结构拆分图；Figure 4 is an exploded view of the important main structure of the present invention;
图5为本发明所述电磁齿轮结构图；Figure 5 is a structural diagram of the electromagnetic gear according to the present invention;
图6为本发明所述供电板与编码器信号解算板示意图；Figure 6 is a schematic diagram of the power supply board and the encoder signal resolution board according to the present invention;
图7为本发明所述汇流环a结构图；Figure 7 is a structural diagram of the bus ring a according to the present invention;
图8为本发明所述汇流环b结构图；Figure 8 is a structural diagram of the bus ring b according to the present invention;
图9为本发明所述两个电磁齿轮间圈数对应图；Figure 9 is a corresponding diagram of the number of turns between the two electromagnetic gears according to the present invention;
图10为发明所述故障断电保护机制电磁齿轮间数值对应图；Figure 10 is a numerical correspondence diagram between electromagnetic gears of the fault power-off protection mechanism of the invention;
图中1、电磁齿轮a；2、一级传动轴；3、电磁齿轮b；4、二级传动轴；5、编码器信号解算板；6、供电板；7、联轴器；8、汇流环a；9、汇流环b；10、编码器外壳；1-1、线圈a1；1-2、线圈a2；2-1、单对极磁钢a；3-1、线圈b1；3-2、线圈b2；3-3、线圈b3；3-4、线圈b4；4-1、单对极磁钢b；5-1、单对极霍尔a1；5-2、单对极霍尔a2；5-3、遮磁板；5-4、单对极霍尔b1；5-5、单对极霍尔b2；6-1、供电电源正负极；6-2、中央电源控制芯片；8-1、外圈a1；8-2、外圈a2；8-3、内圈b1；8-4、外圈电源正负极c1；8-5、外圈导电环d1；8-6、内圈电源正负极e1；8-7、内圈导电环f1；8-8、外圈导电环d2；8-9、连接柱g1；9-1、外圈a3；9-2、外圈a4；9-3、内圈b2；9-4、外圈电源正负极c2；9-5、外圈导电环d3；9-6、内圈电源正负极e2；9-7、内圈导电环f2；9-8、外圈导电环d4；9-9、连接柱g2；In the picture, 1. Electromagnetic gear a; 2. Primary transmission shaft; 3. Electromagnetic gear b; 4. Secondary transmission shaft; 5. Encoder signal resolution board; 6. Power supply board; 7. Coupling; 8. Bus ring a; 9, bus ring b; 10, encoder housing; 1-1, coil a1; 1-2, coil a2; 2-1, single pair of pole magnet a; 3-1, coil b1; 3- 2. Coil b2; 3-3, coil b3; 3-4, coil b4; 4-1, single pole magnet b; 5-1, single pole Hall a1; 5-2, single pole Hall a2; 5-3, magnetic shielding plate; 5-4, single pole Hall b1; 5-5, single pole Hall b2; 6-1, positive and negative poles of power supply; 6-2, central power supply control chip ;8-1, outer ring a1; 8-2, outer ring a2; 8-3, inner ring b1; 8-4, outer ring power supply positive and negative electrodes c1; 8-5, outer ring conductive ring d1; 8-6 , inner ring power supply positive and negative poles e1; 8-7, inner ring conductive ring f1; 8-8, outer ring conductive ring d2; 8-9, connecting column g1; 9-1, outer ring a3; 9-2, outer ring Circle a4; 9-3, inner circle b2; 9-4, outer ring power supply positive and negative poles c2; 9-5, outer ring conductive ring d3; 9-6, inner ring power supply positive and negative poles e2; 9-7, inner Ring conductive ring f2; 9-8, outer ring conductive ring d4; 9-9, connecting column g2;
具体实施方式：Detailed ways:
下面结合附图详细说明本发明的具体实施方式。The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
在此记载的具体实施方式/实施例为本发明的特定的具体实施方式，用于说明本发明的构思，均是解释性和示例性的，不应解释为对本发明实施方式及本发明范围的限制。除在此记载的实施例外，本领域技术人员还能够基于本申请权利要求书和说明书所公开的内容采用显而易见的其它技术方案，这些技术方案包括采用对在此记载的实施例的做出任何显而易见的替换和修改的技术方案，都在本发明的保护范围之内。The specific implementations/examples described here are specific implementations of the present invention and are used to illustrate the concept of the present invention. They are illustrative and exemplary and should not be construed as limiting the implementation of the present invention and the scope of the present invention. limit. In addition to the embodiments recorded here, those skilled in the art can also adopt other obvious technical solutions based on the content disclosed in the claims and the specification of this application. These technical solutions include the use of any obvious technical solutions to the embodiments recorded here. The replacement and modified technical solutions are all within the protection scope of the present invention.
为使本发明的目的、技术方案和优点更加清楚明了，下面通过附图中示出的具体实施例来描述本发明。但是应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described below through the specific embodiments shown in the drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily confusing the concepts of the present invention.
如图 1、图 2、图 3、图 4、图 5、图 6、图 7、图 8、图 9、图10所示，本发明具体实施方式采用以下技术方案：As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, Figure 9, and Figure 10, the specific implementation of the present invention adopts the following technical solutions:
所述的一种电磁齿轮多圈式磁电编码器及其计圈数方法，其特征在于：所述的电磁齿轮多圈式磁电编码器，它包括电磁齿轮a(1)，一级传动轴(2)，电磁齿轮b(3)，二级传动轴(4)，编码器信号解算板(5)，供电板(6)，联轴器(7)，汇流环a(8)，汇流环b(9)，编码器外壳(10)；线圈a1(1-1)，线圈a2(1-2)；单对极磁钢a(2-1)；线圈b1(3-1)，线圈b2(3-2)，线圈b3(3-3)，线圈b4(3-4)；单对极磁钢b(4-1)；单对极霍尔a1(5-1)，单对极霍尔a2(5-2)，遮磁板(5-3)，单对极霍尔b1(5-4)，单对极霍尔b2(5-5)；供电电源正负极(6-1)，中央电源控制芯片(6-2)；外圈a1(8-1)，外圈a2(8-2)，内圈b1(8-3)，外圈电源正负极c1(8-4)，外圈导电环d1(8-5)，内圈电源正负极e1(8-6)，内圈导电环f1(8-7)，外圈导电环d2(8-8)，连接柱g1(8-9)；外圈a3(9-1)，外圈a4(9-2)，内圈b2(9-3)，外圈电源正负极c2(9-4)，外圈导电环d3(9-5)，内圈电源正负极e2(9-6)，内圈导电环f2(9-7)，外圈导电环d4(9-8)，连接柱g2(9-9)；其中，电磁齿轮a(1)与一级传动轴(2)固接，电磁齿轮b(3)与二级传动轴(4)固接，一级传动轴(2)、二级传动轴(4)均与编码器外壳(10)轴承连接；单对极磁钢a(2-1)胶接在电磁齿轮a(1)的侧面，单对极磁钢b(4-1)胶接在电磁齿轮b(3)的侧面；单对极霍尔a1(5-1)、单对极霍尔a2(5-2)、遮磁板(5-3)、单对极霍尔b1(5-4)、单对极霍尔b2(5-5)均与编码器信号解算板(5)锡焊焊接；编码器信号解算板(5)、供电板(6)均与编码器外壳(10)螺纹连接；供电电源正负极(6-1)、中央电源控制芯片(6-2)均与供电板(6)锡焊焊接；汇流环a(8)与一级传动轴(2)固接，汇流环b(9)与二级传动轴(4)固接；其中汇流环a的具体结构为：外圈a1(8-1)、外圈a2(8-2)与连接柱g1(8-9)采用铰制孔连接，外圈a1(8-1)与外圈a2(8-2)配合组成汇流环外圈，内圈电源正负极e1(8-6)与内圈b1(8-3)焊接，外圈电源正负极c1(8-4)与外圈a1(8-1)、外圈a2(8-2)锡焊焊接，外圈导电环d1(8-5)、外圈导电环d2(8-8)与内圈导电环f1(8-7)间隙配合；汇流环b的具体结构为：外圈a3(9-1)、外圈a4(9-2)与连接柱g2(9-9)采用铰制孔连接，外圈a3(9-1)与外圈a4(9-2)配合组成汇流环外圈，内圈电源正负极e2(9-6)与内圈b2(9-3)焊接，外圈电源正负极c2(9-4)与外圈a3(9-1)、外圈a4(9-2)锡焊焊接，外圈导电环d3(9-5)、外圈导电环d4(9-8)与内圈导电环f2(9-7)间隙配合；The electromagnetic gear multi-turn magnetoelectric encoder and its turn counting method are characterized in that: the electromagnetic gear multi-turn magnetoelectric encoder includes an electromagnetic gear a (1), a primary transmission Shaft (2), electromagnetic gear b (3), secondary transmission shaft (4), encoder signal resolution board (5), power supply board (6), coupling (7), converging ring a (8), Bus ring b (9), encoder housing (10); coil a1 (1-1), coil a2 (1-2); single pair of pole magnet a (2-1); coil b1 (3-1), Coil b2 (3-2), coil b3 (3-3), coil b4 (3-4); single pair of pole magnet b (4-1); single pair of pole Hall a1 (5-1), single pair Pole Hall a2 (5-2), magnetic shielding plate (5-3), single paired pole Hall b1 (5-4), single paired pole Hall b2 (5-5); positive and negative poles of power supply (6 -1), central power control chip (6-2); outer ring a1 (8-1), outer ring a2 (8-2), inner ring b1 (8-3), outer ring power supply positive and negative poles c1 (8 -4), outer conductive ring d1 (8-5), inner ring power supply positive and negative poles e1 (8-6), inner conductive ring f1 (8-7), outer conductive ring d2 (8-8), Connecting column g1 (8-9); outer ring a3 (9-1), outer ring a4 (9-2), inner ring b2 (9-3), outer ring power supply positive and negative poles c2 (9-4), outer ring The conductive ring d3 (9-5), the positive and negative poles of the inner power supply e2 (9-6), the conductive ring f2 (9-7) of the inner ring, the conductive ring d4 (9-8) of the outer ring, the connecting column g2 (9 -9); Among them, the electromagnetic gear a (1) is fixedly connected to the primary transmission shaft (2), the electromagnetic gear b (3) is fixedly connected to the secondary transmission shaft (4), the primary transmission shaft (2), and the secondary transmission shaft (4) are fixedly connected. The transmission shafts (4) are all bearing-connected with the encoder housing (10); the single-pair magnetic steel a (2-1) is glued to the side of the electromagnetic gear a (1), and the single-pair magnetic steel b (4-1) Glued to the side of the electromagnetic gear b (3); single pole Hall a1 (5-1), single pole Hall a2 (5-2), magnetic shielding plate (5-3), single pole Hall b1 (5-4) and single pole Hall b2 (5-5) are soldered to the encoder signal resolution board (5); the encoder signal resolution board (5) and the power supply board (6) are both soldered to The encoder housing (10) is threaded; the positive and negative poles of the power supply (6-1) and the central power control chip (6-2) are soldered to the power supply board (6); the bus ring a (8) is connected to the primary transmission The shaft (2) is fixedly connected, and the converging ring b (9) is fixedly connected to the secondary transmission shaft (4); the specific structure of the converging ring a is: outer ring a1 (8-1), outer ring a2 (8-2) It is connected with the connecting column g1 (8-9) using hinged holes. The outer ring a1 (8-1) and the outer ring a2 (8-2) cooperate to form the outer ring of the bus ring. The positive and negative poles of the inner ring power supply e1 (8-6 ) is welded to the inner ring b1 (8-3), the positive and negative electrodes c1 (8-4) of the outer ring power supply are soldered to the outer ring a1 (8-1) and outer ring a2 (8-2), and the outer ring conductive ring d1(8-5), outer conductive ring d2(8-8) and inner conductive ring f1(8-7) have clearance fit; the specific structure of bus ring b is: outer ring a3(9-1), outer ring a4 (9-2) and connecting column g2 (9-9) are connected through hinged holes. The outer ring a3 (9-1) and the outer ring a4 (9-2) cooperate to form the outer ring of the bus ring. The power supply of the inner ring is positive and negative. The pole e2 (9-6) is welded to the inner ring b2 (9-3), and the positive and negative poles c2 (9-4) of the outer ring power supply are soldered to the outer ring a3 (9-1) and outer ring a4 (9-2). Welding, outer conductive ring d3 (9-5), outer conductive ring d4 (9-8) and inner conductive ring f2 (9-7) have clearance fit;
供电板(6)上的供电电源通电后，供电电源正负极(6-1)与汇流环a(8)上的外圈电源正负极c1(8-4)导线连接，汇流环a(8)的外圈导电环d1(8-5)、外圈导电环d2(8-8)与内圈导电环f1(8-7)接触，使得内圈b1(8-3)带电，内圈b1(8-3)上的内圈电源正负极e1(8-6)与电磁齿轮a(1)上的两个间隔180°分布的线圈导线连接，使得线圈a1(1-1)、线圈a2(1-2)带电，并产生方向相反的轴向磁场；供电电源正负极(6-1)与汇流环b(9)上的外圈电源正负极c2(9-4)导线连接，汇流环b(9)的外圈导电环d3(9-5)、外圈导电环d4(9-8)与内圈导电环f2(9-7)接触，使得内圈b2(9-3)带电，内圈b2(9-3)上的内圈电源正负极e2(9-6)与电磁齿轮b(3)上的四个间隔为90°的线圈导线连接，使得线圈b1(3-1)、线圈b2(3-2)、线圈b3(3-3)、线圈b4(3-4)带电，并产生轴向磁场；电机主轴通过联轴器(7)与一级传动轴(2)连接，带动电磁齿轮a(1)转动，通过线圈a1(1-1)、线圈a2(1-2)与线圈b1(3-1)、线圈b2(3-2)、线圈b3(3-3)、线圈b4(3-4)间的磁场配合，带动电磁齿轮b(3)转动；胶接在电磁齿轮a(1)侧面的单对极磁钢a(2-1)与胶接在电磁齿轮b(3)侧面的单对极磁钢b(4-1)随之旋转，单对极霍尔a1(5-1)、单对极霍尔a2(5-2)接收单对极磁钢a(2-1)的磁场信号，单对极霍尔b1(5-4)、单对极霍尔b2(5-5)接收单对极磁钢b(4-1)的磁场信号；After the power supply on the power supply board (6) is energized, the positive and negative poles of the power supply (6-1) are connected to the positive and negative poles c1 (8-4) of the outer ring power supply on the bus ring a (8), and the bus ring a ( The outer conductive ring d1 (8-5) and outer conductive ring d2 (8-8) of 8) are in contact with the inner conductive ring f1 (8-7), so that the inner ring b1 (8-3) is charged, and the inner ring The positive and negative poles of the inner ring power supply e1 (8-6) on b1 (8-3) are connected to two coil wires distributed at 180° on the electromagnetic gear a (1), so that the coil a1 (1-1), the coil a2 (1-2) is charged and generates an axial magnetic field in the opposite direction; the positive and negative poles of the power supply (6-1) are connected to the positive and negative poles of the outer ring power supply c2 (9-4) on the bus ring b (9) , the outer conductive ring d3 (9-5) and the outer conductive ring d4 (9-8) of the bus ring b (9) are in contact with the inner conductive ring f2 (9-7), so that the inner ring b2 (9-3 ) is charged, and the inner ring power supply positive and negative poles e2 (9-6) on the inner ring b2 (9-3) are connected to four coil wires spaced 90° apart on the electromagnetic gear b (3), so that the coil b1 (3 -1), coil b2 (3-2), coil b3 (3-3), and coil b4 (3-4) are charged and generate an axial magnetic field; the main shaft of the motor communicates with the primary transmission shaft ( 2) Connect, drive the electromagnetic gear a(1) to rotate, through the coil a1(1-1), coil a2(1-2) and coil b1(3-1), coil b2(3-2), coil b3(3 The magnetic field cooperation between -3) and coil b4 (3-4) drives the electromagnetic gear b (3) to rotate; the single pair of pole magnet a (2-1) glued to the side of the electromagnetic gear a (1) is glued to The single-pair magnet b (4-1) on the side of the electromagnetic gear b (3) rotates accordingly, and the single-pair Hall a1 (5-1) and the single-pair Hall a2 (5-2) receive the single-pair The magnetic field signal of pole magnetic steel a(2-1), single paired pole Hall b1(5-4), single paired pole Hall b2(5-5) receive the magnetic field of single paired pole magnetic steel b(4-1) Signal;
一种电磁齿轮多圈式磁电编码器及其计圈数方法，本方法应用于磁电编码器领域：An electromagnetic gear multi-turn magnetoelectric encoder and its counting method. This method is applied in the field of magnetoelectric encoders:
一种电磁齿轮多圈式磁电编码器及其计圈数方法，所述方法的具体实现过程为：An electromagnetic gear multi-turn magnetoelectric encoder and its turn counting method. The specific implementation process of the method is:
步骤一：供电板上的供电电源正负极通电，供电电源正负极与汇流环a的外圈电源正负极c1使用导线连接使得汇流环a的外圈导电环d1、外圈导电环d2带电，汇流环a的外圈导电环d1、外圈导电环d2与内圈导电环f1接触，使得内圈b1带电，内圈b1上的内圈电源正负极e1与电磁齿轮a上间隔180°分布的线圈a1、线圈a2使用导线连接，使得线圈a1、线圈a2带电；供电电源正负极与汇流环b的外圈电源正负极c2使用导线连接使得汇流环b的外圈导电环d3、外圈导电环d4带电，汇流环b的外圈导电环d3、外圈导电环d4与内圈导电环f2接触，使得内圈b2带电，内圈b2上的内圈电源正负极e2与电磁齿轮b上间隔90°分布的线圈b1、线圈b2、线圈b3、线圈b4导线连接，使得线圈b1、线圈b2、线圈b3、线圈b4带电；通过控制线圈之间的电流方向，使得线圈a1、线圈b1、线圈b3产生同向磁场，线圈a2、线圈b2、线圈b4产生同向磁场；将一级传动轴通过联轴器与电机主轴连接，打开电机电源开关，一级传动轴开始旋转，带动电磁齿轮a旋转；汇流环a的外圈与内圈间隙配合，汇流环a内圈随着一级传动轴旋转，汇流环a外圈固定不动；汇流环b的外圈与内圈间隙配合，汇流环b内圈随着二级传动轴旋转，汇流环b外圈固定不动；Step 1: The positive and negative poles of the power supply on the power supply board are energized. The positive and negative poles of the power supply are connected to the positive and negative poles c1 of the outer ring power supply of bus ring a using wires so that the outer conductive ring d1 and outer conductive ring d2 of bus ring a are connected. When the bus ring a is charged, the outer conductive ring d1 and the outer conductive ring d2 of the bus ring a are in contact with the inner conductive ring f1, so that the inner ring b1 is charged. The positive and negative poles e1 of the inner ring power supply on the inner ring b1 are spaced 180 degrees from the electromagnetic gear a. The coils a1 and a2 distributed in ° are connected with wires to make the coils a1 and coil a2 charged; the positive and negative poles of the power supply are connected with the positive and negative poles c2 of the outer power supply of bus ring b using wires to make the outer conductive ring d3 of bus ring b , the outer conductive ring d4 is charged, the outer conductive ring d3 and the outer conductive ring d4 of the bus ring b are in contact with the inner conductive ring f2, so that the inner ring b2 is charged, and the inner ring power supply positive and negative electrodes e2 on the inner ring b2 are in contact with The coils b1, coil b2, coil b3, and coil b4 distributed at 90° intervals on the electromagnetic gear b are connected by wires, so that the coils b1, coil b2, coil b3, and coil b4 are charged; by controlling the direction of the current between the coils, the coils a1, Coils b1 and b3 generate magnetic fields in the same direction, and coils a2, coil b2, and coil b4 generate magnetic fields in the same direction; connect the primary transmission shaft to the motor main shaft through the coupling, turn on the motor power switch, and the primary transmission shaft begins to rotate, driving The electromagnetic gear a rotates; the outer ring and the inner ring of the converging ring a have a clearance fit, the inner ring of the converging ring a rotates with the primary transmission shaft, and the outer ring of the converging ring a is fixed; the outer ring and the inner ring of the converging ring b have a clearance fit. , the inner ring of the converging ring b rotates with the secondary transmission shaft, and the outer ring of the converging ring b is fixed;
步骤二：若电磁齿轮a在电机主轴带动下顺时针旋转时：Step 2: If the electromagnetic gear a rotates clockwise driven by the motor main shaft:
初始状态下，线圈a1与线圈b1对应，电磁齿轮a顺时针旋转180°后，电磁齿轮b在线圈a1与线圈b1之间的同向磁场作用下逆时针旋转90°，此时线圈a2与线圈b2对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a2与线圈b2的同向磁场作用下继续逆时针旋转90°，此时线圈a1与线圈b3对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a1与线圈b3的同向磁场作用下继续逆时针旋转90°，此时线圈a2与线圈b4对应，电磁齿轮a继续顺时针旋转180°后，电磁齿轮b在线圈a2与线圈b4的同向磁场作用下继续逆时针旋转90°，此时线圈a1与线圈b1再次对应；至此电磁齿轮a旋转了2圈，电磁齿轮b旋转了1圈；In the initial state, coil a1 corresponds to coil b1. After electromagnetic gear a rotates 180° clockwise, electromagnetic gear b rotates counterclockwise 90° under the action of the same magnetic field between coil a1 and coil b1. At this time, coil a2 and coil Corresponding to b2, after electromagnetic gear a continues to rotate 180° clockwise, electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of coil a2 and coil b2. At this time, coil a1 corresponds to coil b3, and electromagnetic gear a continues to rotate clockwise. After the clockwise rotation is 180°, the electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of the coil a1 and the coil b3. At this time, the coil a2 corresponds to the coil b4. After the electromagnetic gear a continues to rotate 180° clockwise, the electromagnetic gear b continues to rotate 90° counterclockwise under the action of the same magnetic field of coil a2 and coil b4. At this time, coil a1 and coil b1 correspond again; so far, electromagnetic gear a has rotated 2 turns, and electromagnetic gear b has rotated 1 turn;
若电磁齿轮a在电机主轴带动下逆时针旋转时：If the electromagnetic gear a rotates counterclockwise driven by the motor main shaft:
初始状态下，线圈a1与线圈b1对应，电磁齿轮a逆时针旋转180°后，电磁齿轮b在线圈a1与线圈b1之间的同向磁场作用下顺时针旋转90°，此时线圈a2与线圈b4对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a2与线圈b4的同向磁场作用下继续顺时针旋转90°，此时线圈a1与线圈b3对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a1与线圈b3的同向磁场作用下继续顺时针旋转90°，此时线圈a2与线圈b2对应，电磁齿轮a继续逆时针旋转180°后，电磁齿轮b在线圈a2与线圈b2的同向磁场作用下继续顺时针旋转90°，此时线圈a1与线圈b1再次对应；至此电磁齿轮a旋转了2圈，电磁齿轮b旋转了1圈，此结构的减速比为2；In the initial state, coil a1 corresponds to coil b1. After electromagnetic gear a rotates 180° counterclockwise, electromagnetic gear b rotates 90° clockwise under the action of the same magnetic field between coil a1 and coil b1. At this time, coil a2 and coil Corresponding to b4, after electromagnetic gear a continues to rotate 180° counterclockwise, electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of coil a2 and coil b4. At this time, coil a1 corresponds to coil b3, and electromagnetic gear a continues to rotate counterclockwise. After the clockwise rotation is 180°, the electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of the coil a1 and the coil b3. At this time, the coil a2 corresponds to the coil b2. After the electromagnetic gear a continues to rotate 180° counterclockwise, the electromagnetic gear b continues to rotate 90° clockwise under the action of the same magnetic field of coil a2 and coil b2. At this time, coil a1 and coil b1 correspond again; so far, electromagnetic gear a has rotated 2 turns, and electromagnetic gear b has rotated 1 turn. The structure of this structure The reduction ratio is 2;
步骤三：胶接在电磁齿轮a侧面的单对极磁钢a随着电磁齿轮a旋转，单对极霍尔a1，单对极霍尔a2采集单对极磁钢a的角度值信号A+、A-，编码器信号解算板对角度值模拟信号A+、A-进行模数转换，得到角度值数字信号HA+、HA-，再对得到的角度值数字信号HA+、HA-，进行解算，得到单对极磁钢a角度值θ1，解算公式为：Step 3: The single-pair pole magnet a glued to the side of the electromagnetic gear a rotates with the electromagnetic gear a. The single-pair pole Hall a1 and the single-pair pole Hall a2 collect the angle value signals A+ and A-, the encoder signal solution board performs analog-to-digital conversion on the angle value analog signals A+ and A- to obtain the angle value digital signals HA+ and HA-, and then solves the obtained angle value digital signals HA+ and HA-. Obtain the angle value θ 1 of the single pole magnet a, and the solution formula is:
单对极霍尔b1，单对极霍尔b2采集单对极磁钢b的角度值信号B+、B-，编码器信号解算板对角度值模拟信号B+、B-进行模数转换，得到角度值数字信号HB+、HB-，再对得到的角度值数字信号HB+、HB-，进行解算，得到单对极磁钢b角度值θ2，解算公式为：The single pole Hall b1 and the single pole Hall b2 collect the angle value signals B+ and B- of the single pole magnet b. The encoder signal solution board performs analog-to-digital conversion on the angle value analog signals B+ and B-, and we get Angle value digital signals HB+, HB-, and then solve the obtained angle value digital signals HB+, HB- to obtain the single pair pole magnet b angle value θ 2. The solution formula is:
其中θ1的取值范围为[0，1]，θ2的取值范围为[0，1]，通过对单对极角度值θ1与单对极角度值θ2的数值组合，来判断电机主轴的旋转圈数。The value range of θ 1 is [0, 1], and the value range of θ 2 is [0, 1]. It is judged by the numerical combination of the single epipolar angle value θ 1 and the single epipolar angle value θ 2 The number of rotations of the motor spindle.
步骤四：记录圈数方法为：用单对极角度值θ2与此编码器的减速比相乘，得到电机主轴的旋转圈数，具体计算公式为：Step 4: The method for recording the number of turns is: multiply the single pole angle value θ 2 by the reduction ratio of this encoder to get the number of rotations of the motor spindle. The specific calculation formula is:
Q＝θ2*T(3)Q＝θ 2 *T(3)
其中,Q为电机主轴的旋转圈数，θ2为单对极霍尔b1、单对极霍尔b2解算出的数值，T为编码器的减速比；Among them, Q is the number of rotations of the motor spindle, θ 2 is the value calculated by the single pole Hall b1 and the single pole Hall b2, and T is the reduction ratio of the encoder;
步骤五：为了保证此编码器的精确性，本发明给出了一种故障断电保护机制，具体计算公式为：Step 5: In order to ensure the accuracy of the encoder, the present invention provides a fault power-off protection mechanism. The specific calculation formula is:
K＝Q-FL(Q)(4)K＝Q-FL(Q)(4)
其中，Q为电机主轴的旋转圈数，FL为取整命令，具体取整方式为取小于当前值且距当前值最近的整数。Among them, Q is the number of rotations of the motor spindle, and FL is the rounding command. The specific rounding method is to take the integer that is smaller than the current value and closest to the current value.
举例为，当单对极角度值θ2的数值为0.65时，表示电磁齿轮b旋转了0.65圈，此编码器的减速比为2，则表示电磁齿轮a旋转了0.65*2圈，此时，单对极角度值θ1的数值若为0.3，则表示此编码器计数是正确的，编码器继续运行；若此时单对极角度值θ1的数值不是0.3，则表示编码器计数错误，此时，编码器信号解算板向供电板上的中央电源控制芯片传输信号，立即停止电磁齿轮a，电磁齿轮b的供电，使其失去磁场，编码器停机；For example, when the value of the single epipolar angle value θ 2 is 0.65, it means that the electromagnetic gear b rotates 0.65 circles. The reduction ratio of this encoder is 2, which means that the electromagnetic gear a rotates 0.65*2 circles. At this time, If the value of the single pole angle value θ 1 is 0.3, it means that the encoder counting is correct and the encoder continues to run; if the value of the single pole angle value θ 1 is not 0.3, it means that the encoder counting is wrong. At this time, the encoder signal resolution board transmits a signal to the central power control chip on the power supply board, and immediately stops the power supply of electromagnetic gear a and electromagnetic gear b, causing them to lose their magnetic field and the encoder stops;
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have other aspects. Various changes and modifications are possible, which fall within the scope of the claimed invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.
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