CN116892960A - Angle rotary encoder suitable for ultralow temperature environment - Google Patents
Angle rotary encoder suitable for ultralow temperature environment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
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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
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
- G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24466—Comparison of the error value to a threshold
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2801—Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
- G01R31/281—Specific types of tests or tests for a specific type of fault, e.g. thermal mapping, shorts testing
- G01R31/2812—Checking for open circuits or shorts, e.g. solder bridges; Testing conductivity, resistivity or impedance
Abstract
The invention relates to the technical field of encoders, in particular to an angle rotary encoder suitable for an ultralow temperature environment, which comprises: the temperature detection module is used for detecting the temperature of the working environment of the angular rotary encoder and judging that the working environment is an ultralow temperature environment; the magnetic field detection module is used for comparing the maximum magnetic field intensity value in the magnetic field intensity values with the standard magnetic field intensity value and sending a fault detection instruction according to the comparison result; the fault detection module is used for carrying out fault detection and repair on the circuit board connected with the angle rotary encoder; the angle detection module acquires a measurement angle value; the calibration module is used for calibrating the measured angle value according to a calibration coefficient to obtain an actual angle value; and the output module is used for taking the calibrated actual angle value as a target angle value and outputting the target angle value of the object to be detected. The invention is used for solving the problem of poor accuracy of the output result of the encoder in the prior art.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to an angle rotary encoder suitable for an ultralow temperature environment.
Background
The encoder is a sensor capable of converting angle or displacement information into digital signals and is widely applied to the fields of industrial control, mechanical manufacturing, ships, spinning, printing, aviation, aerospace, radar, communication, military industry and the like. With the rapid development of the fields of industrial automation, intelligent manufacturing, new energy automobiles and the like, the demand for encoders will continue to increase. Meanwhile, the encoder technology is continuously innovated and improved, and is developed towards high precision, high reliability, high integration level, low cost and the like. The encoder industry has low concentration, and has numerous manufacturers and brands on the market with vigorous competition. The encoder industry has a high technical barrier and needs to have high research and development capability, production process and quality control capability. Meanwhile, the encoder industry also needs to comply with relevant standards and specifications to meet the requirements of different fields and applications.
Patent document publication No. CN102589579a discloses a rotary encoder and a method of measuring an angle, the rotary encoder comprising: the first angle detection device is used for measuring the angle to be measured of the object to be measured and generating a first angle signal; the second angle detection device is used for measuring the angle to be measured and generating a second angle signal, wherein an included angle is formed between the probe direction of the first angle detection device and the probe direction of the second angle detection device, and the value of the included angle is larger than or equal to the angle value of a blind area with larger angle in a first blind area of the first angle detection device and a second blind area of the second angle detection device; and the processing device is used for generating a corresponding measurement result according to the received first angle signal from the first angle detection device and the received second angle signal from the second angle detection device. Correspondingly, the invention also provides a method for measuring the angle.
In the prior art, the magnetic field of the encoder is generated to influence the measurement process under the environment of ultralow temperature operation, so that the output result of the encoder is poor in accuracy.
Disclosure of Invention
Therefore, the invention provides the angle rotary encoder suitable for the ultralow temperature environment, which can solve the problem of poor accuracy of the output result of the encoder.
In order to achieve the above object, the present invention provides an angular rotary encoder suitable for an ultra-low temperature environment, comprising:
the temperature detection module is used for detecting the working environment temperature of the angular rotary encoder to obtain a plurality of environment temperature values, comparing the minimum environment temperature value in the plurality of environment temperature values with a standard environment temperature value, and when the minimum environment temperature value is smaller than or equal to the standard environment temperature value, the working environment of the angular rotary encoder is an ultralow temperature environment;
the magnetic field detection module is connected with the temperature detection module, detects the magnetic field intensity on the code wheel in the angle rotary encoder, acquires a plurality of magnetic field intensity values, compares the maximum magnetic field intensity value in the magnetic field intensity values with a standard magnetic field intensity value, and sends a fault detection instruction according to a comparison result;
the fault detection module is connected with the magnetic field detection module, and is used for detecting faults of a circuit board connected with the angle rotary encoder, and repairing the faults if the circuit board has faults;
the angle detection module is used for detecting the angle of the object to be detected through the angle rotary encoder to obtain a measurement angle value;
the calibration module calculates and acquires a calibration coefficient according to a standard magnetic field intensity value in the actual area of the code wheel, which is passed by the magnetic induction sensor in the angle rotary encoder, and a magnetic field intensity average value in the actual area, and calibrates the measured angle value according to the calibration coefficient to acquire an actual angle value;
and the output module is used for taking the calibrated actual angle value as a target angle value and outputting the target angle value of the object to be detected.
Further, the temperature detection module detects the working environment temperature of the angle rotary encoder through a temperature sensor arranged at the geometric center of the upper surface of the shell of the angle rotary encoder, and the temperature sensor detects the working environment temperature of the angle rotary encoder in a first time period to acquire a plurality of environment temperature values.
Further, the magnetic field detection module comprises a field intensity acquisition unit, a field intensity extraction unit and a comparison unit, wherein,
the field intensity acquisition unit is used for acquiring the magnetic field intensity above the code wheel in the angle rotary encoder through the magnetic field sensor to acquire a plurality of magnetic field intensity values;
the field intensity extraction unit is connected with the field intensity acquisition unit and used for extracting the maximum magnetic field intensity value in the magnetic field intensity values to obtain the maximum magnetic field intensity value;
the comparison unit is used for comparing the maximum magnetic field intensity value with the standard magnetic field intensity value to obtain a comparison result.
Further, the magnetic field detection module sending the fault detection instruction according to the comparison result includes:
when the maximum magnetic field intensity value is smaller than the standard magnetic field intensity value, the magnetic field detection module does not send the fault detection instruction;
and when the maximum magnetic field intensity value is greater than or equal to the standard magnetic field intensity value, the magnetic field detection module sends the fault detection instruction to the fault detection module to perform fault detection on the angle rotary encoder.
Further, the field intensity acquisition unit acquires the magnetic field intensity above the code wheel in the angle rotary encoder through a magnetic field sensor, and the method comprises the following steps:
the magnetic field sensor is arranged above the code disc in the angle rotary encoder, so that the lower end of the magnetic field sensor is spaced from the upper surface of the code disc by 0.8mm;
dividing the surface of the code wheel according to the interval angle of 10 degrees to obtain a plurality of areas;
taking the position of the code wheel corresponding to the magnetic induction sensor in the angle rotary encoder as an initial position, and detecting the magnetic field intensity of a plurality of areas of the code wheel by moving the magnetic field sensor from the initial position at a certain speed;
and acquiring a plurality of magnetic field intensity values from the induction magnetic field detected in the detection process through the data processing equipment.
Further, the fault detection module comprises an instruction receiving unit, a fault detection unit and a fault analysis unit, wherein,
the instruction receiving unit is used for receiving the fault detection instruction;
the fault detection unit is used for detecting through a plurality of current sensors arranged on the circuit board to obtain a plurality of current values, and the current sensors are uniformly distributed on the circuit board at intervals of 2 cm;
the fault analysis unit is connected with the fault detection unit, compares the maximum current value in the current values with a standard current value, if the maximum current value is larger than the standard current value, the circuit board has a short circuit fault, calculates the difference of the current values measured by adjacent current sensors, obtains a plurality of current difference values, compares the current difference values with the standard current difference value, and if the current difference value is larger than the standard current difference value, the circuit board has an open circuit fault.
Further, the fault detection module repairing the fault includes:
if the circuit board has a short circuit fault, selecting a resistor gear by using a universal meter, connecting one end to a grounding point of the circuit board, then testing the connecting wire ends on the circuit board one by one at the other end, if the universal meter displays a resistance value smaller than or equal to 0.1, cutting off and repairing the connecting wire part on the circuit board, detecting the repaired circuit board circuit again through the current sensor, and judging the problem of the short circuit fault in the circuit board circuit;
if the circuit board has the open circuit fault, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, the repaired circuit board circuit is detected and judged again through the current sensors, if the current difference values obtained through detection and calculation of adjacent current sensors are larger than the standard current difference value, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, and if the current difference values obtained through detection and calculation of adjacent current sensors are smaller than or equal to the standard current difference value, the circuit board does not have the open circuit problem and is not connected and repaired.
Further, the angle detection module comprises a measurement unit, a calculation unit and an output unit, wherein,
the measuring unit is used for obtaining an incremental pulse signal through the magnetic induction sensor on the change of multipolar magnetic flux which is uniformly arranged on the code wheel along the circumferential direction in the measuring process;
the calculating unit is used for determining the angle value of the object to be detected by calculating the pulse quantity of the increment pulse signal;
and the output unit is used for outputting the angle value as a measurement angle.
Further, the calibration module comprises a segmentation unit, a region field intensity acquisition unit and a coefficient calculation unit, wherein,
the dividing unit is used for dividing the surface of the code wheel according to the interval angle of 10 degrees to obtain a plurality of areas, and the code wheel area corresponding to the initial position of the magnetic induction sensor is taken as a first area;
the region field intensity obtaining unit is connected with the dividing unit and is used for detecting that the code disc region corresponding to the magnetic induction sensor is a final region after the magnetic induction sensor measures the angle of the object to be measured through a position sensor arranged on the magnetic induction sensor, detecting a plurality of actual magnetic field intensity values from the first region to the final region on the surface of the code disc through the magnetic field sensor, calculating a mean value of the plurality of actual magnetic field intensity values, and obtaining an actual magnetic field intensity value;
the coefficient calculation unit is connected with the region field intensity acquisition unit and is used for dividing the actual magnetic field intensity value by the standard magnetic field intensity value to acquire the calibration coefficient.
Further, the calibrating module calibrating the measured angle value according to the calibration coefficient to obtain an actual angle value includes: setting the standard magnetic field intensity value as H, and setting the actual magnetic field intensity value as H Real world The measured angle value is alpha Measuring The calibration coefficient k is k=h/H Real world The actual angle value alpha Real world Alpha is alpha Real world =kα Measuring 。
Compared with the prior art, the method has the advantages that the temperature detection module is arranged to detect the working environment temperature of the angle rotary encoder, the accurate working environment temperature value of the angle rotary encoder is obtained, the minimum environment temperature value and the standard environment temperature value in a plurality of temperature values are obtained, whether the accurate working environment of the angle rotary encoder is an ultralow temperature environment or not is determined, a precondition is provided for the subsequent calculation process in the measurement of an object to be measured, the magnetic field detection module is arranged to detect the magnetic field intensity condition on the code wheel in the ultralow temperature environment, a plurality of magnetic field intensity values are obtained, the magnetic field intensity condition on the code wheel is comprehensively known, the comparison is carried out with the standard magnetic field intensity value, whether the magnetic field condition is normal or not is judged, the fault detection is carried out on a circuit board connected with the angle rotary encoder or not is judged, when the circuit board is in fault, a fault detection instruction is sent out on the circuit board, the system can restore the fault detection instruction, the whole angle rotary encoder is ensured to operate, the angle rotary encoder is ensured to accurately measure the angle rotary encoder through the subsequent calculation of the angle rotary encoder, the angle detection module is convenient to obtain the angle detection result, the angle detection module is convenient to obtain the angle measurement result, the angle rotary encoder is convenient to obtain the angle measurement result through the angle detection module, the calibration module is arranged to calculate and acquire a calibration coefficient according to a standard magnetic field intensity value in the actual area of the code wheel, which is passed by the magnetic induction sensor in the angle rotary encoder, and a magnetic field intensity mean value in the actual area of the code wheel, calibrate a measured angle value through the calibration coefficient to acquire a more accurate actual angle value, and output the calibrated actual angle value as a target angle value through the output module, so that the angle of an object to be measured is accurately and intuitively acquired, and the acquired target angle value is accurate.
In particular, through setting up temperature sensor on the angle rotary encoder shell, to the operational environment temperature of angle rotary encoder carries out real-time supervision, makes to the angle rotary encoder is in different angle measurement modes under the low temperature state, makes to the angle measurement precision of the object that awaits measuring is high, will temperature sensor sets up angle rotary encoder shell surface geometric center department, be convenient for temperature sensor's installation and maintenance, and temperature detection data are accurate.
In particular, the field intensity of the surface of the code wheel is acquired through the magnetic field sensor by the field intensity acquisition unit, so that a plurality of magnetic field intensity values are acquired, the magnetic field intensity state of the surface of the code wheel is intuitively known, the analysis of the magnetic field on the code wheel is fast and convenient, the maximum magnetic field intensity value is compared with the standard magnetic field intensity value, the normal condition of the magnetic field intensity value is judged, and then the normal condition of the angle rotary encoder is judged.
In particular, the magnetic field sensor is arranged above the code disc, a certain distance is kept between the magnetic field sensor and the surface of the code disc, the magnetic field intensity of each region on the code disc is accurately acquired, the influence of external interference on magnetic field signals is effectively avoided, the accuracy of measured magnetic field intensity data is ensured, the magnetic field intensity values of a plurality of regions of the code disc are respectively acquired by dividing the surface of the code disc according to a certain interval angle, the magnetic field sensor starts to move from an initial position and detects at a certain speed, the magnetic field intensity values of each region are rapidly acquired, the magnetic field intensity data acquisition efficiency is improved, and the measured magnetic field electric signals are converted into digital signals to acquire a plurality of magnetic field intensity values through the data processing equipment, so that the magnetic field intensity data acquisition device is convenient for subsequent analysis and application.
In particular, by setting the fault detection unit to detect the circuit board through a plurality of current sensors on the circuit board, obtain a plurality of current values, and compare with standard current values, whether the circuit board has a short-circuit fault can be accurately judged, by setting the fault analysis unit to calculate the difference of the current values measured by adjacent current sensors, and compare with standard current difference values, whether the circuit board has a break fault can be judged, the specific position and the cause of the fault are further analyzed, so that guidance and reference are provided for fault repair for the detection, accurate judgment and analysis of the short-circuit fault and the break fault of the circuit board, the angle rotary encoder measurement efficiency is improved, and the angle rotary encoder measurement result is accurate.
In particular, the segmentation unit is arranged to segment the field intensity of the surface of the code wheel according to the interval of 10 degrees, a plurality of areas are obtained, the code wheel area corresponding to the initial position of the magnetic induction sensor is defined as a first area, the definition is clear when the magnetic field intensity in the area passed by the magnetic induction sensor is measured for the code wheel in a follow-up mode, the magnetic field intensity measuring result is accurate, the area field intensity obtaining unit is arranged to accurately detect the code wheel area corresponding to the magnetic induction sensor after the angle of the object to be measured is measured through the position sensor arranged on the magnetic induction sensor, the final area is determined, the actual magnetic field intensity value of the code wheel area is accurately obtained, the average value is calculated, the actual magnetic field intensity value is accurately obtained through the magnetic field sensor, the calculation result of the follow-up calibration coefficient is accurate, and the calibration coefficient is calculated through the coefficient calculating unit, so that the target angle value data obtained in a follow-up mode is accurate.
Drawings
FIG. 1 is a block diagram of an angular rotary encoder suitable for use in an ultra-low temperature environment according to an embodiment of the present invention;
FIG. 2 is a block diagram of a second configuration of an angular rotary encoder suitable for use in an ultra-low temperature environment according to an embodiment of the present invention;
FIG. 3 is a block diagram of a third configuration of an angular rotary encoder suitable for use in an ultra-low temperature environment according to an embodiment of the present invention;
fig. 4 is a block diagram of a fourth configuration of an angular rotary encoder suitable for an ultra-low temperature environment according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, an embodiment of the present invention provides an angular rotary encoder suitable for an ultra-low temperature environment, including:
the temperature detection module 10 is configured to detect a working environment temperature of the angular rotary encoder, obtain a plurality of environment temperature values, compare a minimum environment temperature value of the plurality of environment temperature values with a standard environment temperature value, and when the minimum environment temperature value is less than or equal to the standard environment temperature value, the working environment of the angular rotary encoder is an ultralow temperature environment;
the magnetic field detection module 20 is connected with the temperature detection module 10, detects the magnetic field intensity on the code wheel in the angle rotary encoder, acquires a plurality of magnetic field intensity values, compares the maximum magnetic field intensity value in the plurality of magnetic field intensity values with a standard magnetic field intensity value, and sends a fault detection instruction according to a comparison result;
the fault detection module 30 is connected with the magnetic field detection module 20, and is used for detecting faults of a circuit board connected with the angle rotary encoder, and repairing the faults if the circuit board has faults;
the angle detection module 40 is used for detecting the angle of the object to be detected through the angle rotary encoder to obtain a measured angle value;
the calibration module 50 calculates and acquires a calibration coefficient according to a standard magnetic field intensity value in the actual area of the code wheel, which is passed by the magnetic induction sensor in the angle rotary encoder, and a magnetic field intensity average value in the actual area, and calibrates the measured angle value according to the calibration coefficient to acquire an actual angle value;
the output module 60 is configured to output the target angle value of the object to be measured by using the calibrated actual angle value as a target angle value.
Specifically, the embodiment of the invention detects the working environment temperature of the angle rotary encoder by setting the temperature detection module 10, acquires the accurate working environment temperature value of the angle rotary encoder, compares the minimum environment temperature value of a plurality of temperature values with the standard environment temperature value, determines whether the accurate working environment of the angle rotary encoder is an ultralow temperature environment, provides preconditions for the calculation process in the subsequent measurement of an object to be detected, detects the magnetic field intensity condition on the code disc in the angle rotary encoder by setting the magnetic field detection module 20 under the ultralow temperature environment, acquires a plurality of magnetic field intensity values, comprehensively knows the magnetic field intensity condition on the code disc, judges whether the magnetic field condition is normal by comparing the magnetic field intensity value with the standard magnetic field intensity value, judges whether the fault detection is required to be carried out on a circuit board connected with the angle rotary encoder, and when the circuit board fails, the system can send a fault detection instruction to repair, ensures that the whole angle rotary encoder stably runs, the magnetic field intensity is calibrated by setting the angle rotary encoder, the angle rotary encoder accurately calculates the angle rotary encoder by setting the angle rotary encoder, and the angle rotary encoder accurately calculates the angle rotary encoder by setting the angle rotary encoder to be calibrated by the angle rotary encoder, and the angle rotary encoder to be calibrated by setting the angle rotary encoder to the actual average value, and the angle rotary encoder is calibrated by setting the angle rotary encoder to be calibrated by the angle rotary encoder to the actual measurement module 50, the output module 60 is configured to output the calibrated actual angle value as a target angle value, so that the angle of the object to be measured is accurately and intuitively obtained, and the obtained target angle value is accurate.
Specifically, the temperature detection module 10 detects the working environment temperature of the angular rotary encoder through a temperature sensor disposed at the geometric center of the upper surface of the housing of the angular rotary encoder, and the temperature sensor detects the working environment temperature of the angular rotary encoder in a first period of time to obtain a plurality of environment temperature values.
Specifically, according to the embodiment of the invention, the working environment temperature of the angle rotary encoder is monitored in real time through the temperature sensor arranged on the outer shell of the angle rotary encoder, so that different angle measurement modes are adopted when the angle rotary encoder is in a low-temperature state, the angle measurement accuracy of the object to be measured is high, the temperature sensor is arranged at the geometric center of the outer shell surface of the angle rotary encoder, the installation and maintenance of the temperature sensor are facilitated, and the temperature detection data are accurate.
Referring to fig. 2, the magnetic field detection module 20 includes a field intensity acquisition unit 21, a field intensity extraction unit 22, and a comparison unit 23, wherein,
the field intensity acquisition unit 21 is used for acquiring the magnetic field intensity above the code wheel in the angle rotary encoder through a magnetic field sensor to acquire a plurality of magnetic field intensity values;
the field intensity extraction unit 22 is connected with the field intensity acquisition unit 21, and is used for extracting the maximum magnetic field intensity value in the magnetic field intensity values to obtain the maximum magnetic field intensity value;
the comparing unit 23 is configured to compare the maximum magnetic field strength value with a standard magnetic field strength value to obtain a comparison result.
Specifically, in the embodiment of the invention, the field intensity acquisition unit 21 is configured to acquire the magnetic field intensity of the surface of the code wheel through the magnetic field sensor, so as to acquire a plurality of magnetic field intensity values, so that the magnetic field intensity state of the surface of the code wheel is intuitively known, the analysis of the magnetic field on the code wheel is fast and convenient, the maximum magnetic field intensity value is compared with the standard magnetic field intensity value, the normal condition of the magnetic field intensity value is judged, and the normal condition of the angle rotary encoder is further judged.
Specifically, the magnetic field detection module 20 sends a fault detection instruction according to the comparison result, including:
when the maximum magnetic field strength value is smaller than the standard magnetic field strength value, the magnetic field detection module 20 does not send the fault detection instruction;
when the maximum magnetic field strength value is greater than or equal to the standard magnetic field strength value, the magnetic field detection module 20 sends the fault detection instruction to the fault detection module 30 to perform fault detection on the angular rotation encoder.
Specifically, the embodiment of the invention enables the magnetic field intensity condition on the code wheel to be known by setting the standard magnetic field intensity value, so that the fault repair is carried out on the circuit board connected with the angle rotary encoder when the maximum magnetic field intensity value is larger than the standard magnetic field intensity value, whether the angle rotary encoder has a fault or not is judged under the condition, whether normal work can be carried out or not is judged, and the measurement result is accurate when the angle measurement is carried out on the object to be measured subsequently.
Specifically, the field strength acquisition unit 21 acquires the magnetic field strength above the code wheel in the angular rotary encoder by a magnetic field sensor, including:
the magnetic field sensor is arranged above the code disc in the angle rotary encoder, so that the lower end of the magnetic field sensor is spaced from the upper surface of the code disc by 0.8mm;
dividing the surface of the code wheel according to the interval angle of 10 degrees to obtain a plurality of areas;
taking the position of the code wheel corresponding to the magnetic induction sensor in the angle rotary encoder as an initial position, and detecting the magnetic field intensity of a plurality of areas of the code wheel by moving the magnetic field sensor from the initial position at a certain speed;
and acquiring a plurality of magnetic field intensity values from the induction magnetic field detected in the detection process through the data processing equipment.
Specifically, in order to ensure that the magnetic field sensor comprehensively detects the magnetic field intensity of the code disc, the magnetic field sensor needs to be in the range of the magnetic field generated by the code disc, and the lower end of the magnetic field sensor is selected to be spaced from the upper surface of the code disc by 0.8mm; the magnetic field sensor can be a Hall sensor, a magnetic resistance sensor or a magnetic induction coil and the like, and is not particularly required; the method comprises the steps that an induced magnetic field detected in a detection process is subjected to data processing equipment to obtain a plurality of magnetic field intensity values, namely, the magnetic field intensity values are obtained through a magnetic field sensor, the magnetic field values are converted into electric signals, the electric signals are amplified through an amplifier, the amplitude of the signals is enhanced, so that the accuracy and stability of data are ensured, noise and interference are removed through a filter, the quality and accuracy of the signals are improved, and the signals are subjected to digital-to-analog conversion (ADC): and converting the analog electric signal into a digital signal to obtain a plurality of magnetic field intensity values.
Specifically, the magnetic field sensor is arranged above the code disc, a certain distance is kept between the magnetic field sensor and the surface of the code disc, the magnetic field intensity of each area on the code disc is accurately acquired, the influence of external interference on magnetic field signals is effectively avoided, the accuracy of measured magnetic field intensity data is ensured, the magnetic field intensity values of a plurality of areas of the code disc are respectively acquired by dividing the surface of the code disc according to a certain interval angle, the magnetic field sensor starts to move from an initial position and detects at a certain speed, the magnetic field intensity values of each area are rapidly acquired, the magnetic field intensity data acquisition efficiency is improved, the measured magnetic field electric signals are converted into digital signals through the data processing equipment to acquire a plurality of magnetic field intensity values, and the magnetic field intensity data acquisition method is convenient for subsequent analysis and application.
Referring to fig. 3, the fault detection module 30 includes an instruction receiving unit 31, a fault detection unit 32, and a fault analysis unit 33, wherein,
the instruction receiving unit 31 is configured to receive the fault detection instruction;
the fault detection unit 32 detects through a plurality of current sensors arranged on the circuit board to obtain a plurality of current values, and the current sensors are uniformly distributed on the circuit board at intervals of 2 cm;
the fault analysis unit 33 is connected to the fault detection unit 32, compares a maximum current value of the current values with a standard current value, calculates a difference between current values measured by adjacent current sensors, obtains a plurality of current difference values, compares the current difference values with the standard current difference values, and if the current difference value is greater than the standard current difference value, opens a circuit fault on the circuit board.
Specifically, the embodiment of the invention can accurately judge whether the circuit board has a short circuit fault or not by arranging the fault detection unit 32 to detect the circuit board through a plurality of current sensors on the circuit board and comparing the current values with the standard current values, and can judge whether the circuit board has a circuit break fault or not by arranging the fault analysis unit 33 to calculate the difference of the current values measured by the adjacent current sensors and comparing the difference with the standard current difference value and further analyze the specific position and cause of the fault, so that guidance and reference are provided for detecting, accurately judging and analyzing the short circuit and the circuit break fault of the circuit board for fault restoration, and the measurement efficiency of the angle rotary encoder is improved, and the measurement result of the angle rotary encoder is accurate.
Specifically, the fault detection module 30 repairing the fault includes:
if the circuit board has a short circuit fault, selecting a resistor gear by using a universal meter, connecting one end to a grounding point of the circuit board, then testing the connecting wire ends on the circuit board one by one at the other end, if the universal meter displays a resistance value smaller than or equal to 0.1, cutting off and repairing the connecting wire part on the circuit board, detecting the repaired circuit board circuit again through the current sensor, and judging the problem of the short circuit fault in the circuit board circuit;
if the circuit board has the open circuit fault, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, the repaired circuit board circuit is detected and judged again through the current sensors, if the current difference values obtained through detection and calculation of adjacent current sensors are larger than the standard current difference value, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, and if the current difference values obtained through detection and calculation of adjacent current sensors are smaller than or equal to the standard current difference value, the circuit board does not have the open circuit problem and is not connected and repaired.
Specifically, when the universal meter is used for measuring the short circuit of the circuit board, if a resistance value close to zero is displayed between two measuring points, the short circuit is indicated, 0.1 is selected as a resistance standard value for judging whether the short circuit exists, and if an infinite resistance value is displayed between the two measuring points, the short circuit is not indicated.
Referring to fig. 4, the angle detection module 40 includes a measurement unit 41, a calculation unit 42, and an output unit 43, wherein,
a measuring unit 41 for obtaining an incremental pulse signal by the magnetic induction sensor for the change of multipolar magnetic flux uniformly arranged in the circumferential direction on the code wheel during the measurement;
a calculation unit 42 for determining an angle value of the object to be measured by calculating the number of pulses of the incremental pulse signal;
and an output unit 43 for outputting the angle value as a measurement angle.
Referring to fig. 4, the calibration module 50 includes a dividing unit 51, a region field intensity obtaining unit 52, and a coefficient calculating unit 53, wherein,
the dividing unit 51 is configured to divide the surface of the code wheel according to an interval angle of 10 degrees, obtain a plurality of areas, and take a code wheel area corresponding to the initial position of the magnetic induction sensor as a first area;
the region field intensity obtaining unit 52 is connected to the dividing unit 51, and is configured to detect, by using a position sensor disposed on the magnetic induction sensor, that the code wheel region corresponding to the magnetic induction sensor is a final region after the magnetic induction sensor measures the angle of the object to be measured, detect, by using the magnetic field sensor, a plurality of actual magnetic field intensity values from the first region to the final region, calculate a mean value of the plurality of actual magnetic field intensity values, and obtain an actual magnetic field intensity value;
the coefficient calculation unit 53 is connected to the region field strength acquisition unit 52, and is configured to divide the actual magnetic field strength value by the standard magnetic field strength value to acquire the calibration coefficient.
Specifically, in the embodiment of the present invention, the segmentation unit 51 is configured to segment the surface field intensity of the code disc at intervals of 10 degrees, obtain a plurality of regions, define the code disc region corresponding to the initial position of the magnetic induction sensor as a first region, so that the definition is clear when the magnetic field intensity in the region passed by the magnetic induction sensor is measured for the code disc, the magnetic field intensity measurement result is accurate, the region field intensity obtaining unit 52 is configured to accurately detect the code disc region corresponding to the magnetic induction sensor after measuring the angle of the object to be measured through the position sensor arranged on the magnetic induction sensor, thereby determining a final region, accurately obtaining the actual magnetic field intensity value of the code disc region, detecting a plurality of actual magnetic field intensity values from the first region to the final region through the magnetic field sensor, calculating the mean value, accurately obtaining the actual magnetic field intensity value, accurately calculating the subsequent calibration coefficient, and accurately calculating the calibration coefficient through the coefficient calculating unit 53, so that the data of the target angle value obtained for the subsequent is accurate.
Specifically, the calibrating module 50 calibrates the measured angle value according to a calibration coefficient to obtain an actual angle value includes: setting the standard magnetic field intensity value as H, and setting the actual magnetic field intensity value as H Real world The measured angle value is alpha Measuring The calibration coefficient k is k=h/H Real world The actual angle value alpha Real world Alpha is alpha Real world =kα Measuring 。
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An angular rotary encoder suitable for use in an ultra-low temperature environment, comprising:
the temperature detection module is used for detecting the working environment temperature of the angular rotary encoder to obtain a plurality of environment temperature values, comparing the minimum environment temperature value in the plurality of environment temperature values with a standard environment temperature value, and when the minimum environment temperature value is smaller than or equal to the standard environment temperature value, the working environment of the angular rotary encoder is an ultralow temperature environment;
the magnetic field detection module is connected with the temperature detection module, detects the magnetic field intensity on the code wheel in the angle rotary encoder, acquires a plurality of magnetic field intensity values, compares the maximum magnetic field intensity value in the magnetic field intensity values with a standard magnetic field intensity value, and sends a fault detection instruction according to a comparison result;
the fault detection module is connected with the magnetic field detection module, and is used for detecting faults of a circuit board connected with the angle rotary encoder, and repairing the faults if the circuit board has faults;
the angle detection module is used for detecting the angle of the object to be detected through the angle rotary encoder to obtain a measurement angle value;
the calibration module calculates and acquires a calibration coefficient according to a standard magnetic field intensity value in the actual area of the code wheel, which is passed by the magnetic induction sensor in the angle rotary encoder, and a magnetic field intensity average value in the actual area, and calibrates the measured angle value according to the calibration coefficient to acquire an actual angle value;
and the output module is used for taking the calibrated actual angle value as a target angle value and outputting the target angle value of the object to be detected.
2. The rotary encoder of claim 1, wherein the temperature detection module detects the operating environment temperature of the rotary encoder by a temperature sensor disposed at a geometric center of an upper surface of a housing of the rotary encoder, and wherein the temperature sensor detects the operating environment temperature of the rotary encoder during a first time period to obtain a plurality of environment temperature values.
3. The rotary encoder for angles suitable for ultra-low temperature environments according to claim 2, wherein the magnetic field detection module comprises a field strength acquisition unit, a field strength extraction unit, and a comparison unit, wherein,
the field intensity acquisition unit is used for acquiring the magnetic field intensity above the code wheel in the angle rotary encoder through the magnetic field sensor to acquire a plurality of magnetic field intensity values;
the field intensity extraction unit is connected with the field intensity acquisition unit and used for extracting the maximum magnetic field intensity value in the magnetic field intensity values to obtain the maximum magnetic field intensity value;
the comparison unit is used for comparing the maximum magnetic field intensity value with the standard magnetic field intensity value to obtain a comparison result.
4. The angular rotary encoder adapted for use in an ultra-low temperature environment according to claim 3, wherein the magnetic field detection module transmits the fault detection command according to the comparison result comprises:
when the maximum magnetic field intensity value is smaller than the standard magnetic field intensity value, the magnetic field detection module does not send the fault detection instruction;
and when the maximum magnetic field intensity value is greater than or equal to the standard magnetic field intensity value, the magnetic field detection module sends the fault detection instruction to the fault detection module to perform fault detection on the angle rotary encoder.
5. The rotary encoder of claim 4, wherein the field strength acquisition unit acquires the magnetic field strength above the code wheel in the rotary encoder by a magnetic field sensor, comprising:
the magnetic field sensor is arranged above the code disc in the angle rotary encoder, so that the lower end of the magnetic field sensor is spaced from the upper surface of the code disc by 0.8mm;
dividing the surface of the code wheel according to the interval angle of 10 degrees to obtain a plurality of areas;
taking the position of the code wheel corresponding to the magnetic induction sensor in the angle rotary encoder as an initial position, and detecting the magnetic field intensity of a plurality of areas of the code wheel by moving the magnetic field sensor from the initial position at a certain speed;
and acquiring a plurality of magnetic field intensity values from the induction magnetic field detected in the detection process through the data processing equipment.
6. The rotary encoder for angles suitable for ultra-low temperature environments as claimed in claim 5, wherein the fault detection module comprises an instruction receiving unit, a fault detection unit, and a fault analysis unit, wherein,
the instruction receiving unit is used for receiving the fault detection instruction;
the fault detection unit is used for detecting through a plurality of current sensors arranged on the circuit board to obtain a plurality of current values, and the current sensors are uniformly distributed on the circuit board at intervals of 2 cm;
the fault analysis unit is connected with the fault detection unit, compares the maximum current value in the current values with a standard current value, if the maximum current value is larger than the standard current value, the circuit board has a short circuit fault, calculates the difference of the current values measured by adjacent current sensors, obtains a plurality of current difference values, compares the current difference values with the standard current difference value, and if the current difference value is larger than the standard current difference value, the circuit board has an open circuit fault.
7. The rotary encoder of claim 6, wherein the fault detection module repairs the fault comprising:
if the circuit board has a short circuit fault, selecting a resistor gear by using a universal meter, connecting one end to a grounding point of the circuit board, then testing the connecting wire ends on the circuit board one by one at the other end, if the universal meter displays a resistance value smaller than or equal to 0.1, cutting off and repairing the connecting wire part on the circuit board, detecting the repaired circuit board circuit again through the current sensor, and judging the problem of the short circuit fault in the circuit board circuit;
if the circuit board has the open circuit fault, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, the repaired circuit board circuit is detected and judged again through the current sensors, if the current difference values obtained through detection and calculation of adjacent current sensors are larger than the standard current difference value, the circuit board position corresponding to the maximum value in the current difference values is connected and repaired, and if the current difference values obtained through detection and calculation of adjacent current sensors are smaller than or equal to the standard current difference value, the circuit board does not have the open circuit problem and is not connected and repaired.
8. The rotary encoder for angles suitable for ultra-low temperature environments as claimed in claim 7, wherein the angle detection module comprises a measuring unit, a calculating unit, and an output unit, wherein,
the measuring unit is used for obtaining an incremental pulse signal through the magnetic induction sensor on the change of multipolar magnetic flux which is uniformly arranged on the code wheel along the circumferential direction in the measuring process;
the calculating unit is used for determining the angle value of the object to be detected by calculating the pulse quantity of the increment pulse signal;
and the output unit is used for outputting the angle value as a measurement angle.
9. The angular rotary encoder adapted for use in an ultra-low temperature environment according to claim 8, wherein the calibration module comprises a segmentation unit, a region field strength acquisition unit, and a coefficient calculation unit, wherein,
the dividing unit is used for dividing the surface of the code wheel according to the interval angle of 10 degrees to obtain a plurality of areas, and the code wheel area corresponding to the initial position of the magnetic induction sensor is taken as a first area;
the region field intensity obtaining unit is connected with the dividing unit and is used for detecting that the code disc region corresponding to the magnetic induction sensor is a final region after the magnetic induction sensor measures the angle of the object to be measured through a position sensor arranged on the magnetic induction sensor, detecting a plurality of actual magnetic field intensity values from the first region to the final region on the surface of the code disc through the magnetic field sensor, calculating a mean value of the plurality of actual magnetic field intensity values, and obtaining an actual magnetic field intensity value;
the coefficient calculation unit is connected with the region field intensity acquisition unit and is used for dividing the actual magnetic field intensity value by the standard magnetic field intensity value to acquire the calibration coefficient.
10. The rotary encoder of claim 9, wherein the calibration module calibrating the measured angle value based on a calibration coefficient to obtain an actual angle value comprises: setting the standard magnetic field intensity value as H, and setting the actual magnetic field intensity value as H Real world The measured angle value is alpha Measuring The calibration coefficient k is k=h/H Real world The actual angle value alpha Real world Alpha is alpha Real world =kα Measuring 。
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