CN1603756A - Wide bore rotary encoder - Google Patents
Wide bore rotary encoder Download PDFInfo
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- CN1603756A CN1603756A CN 200410084273 CN200410084273A CN1603756A CN 1603756 A CN1603756 A CN 1603756A CN 200410084273 CN200410084273 CN 200410084273 CN 200410084273 A CN200410084273 A CN 200410084273A CN 1603756 A CN1603756 A CN 1603756A
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- read head
- signal
- mounting ring
- grating scale
- rotary encoder
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Abstract
It is a large-diameter rotation coder, which comprises the following: a mounting ring with matching size to the rotation parts; a grating rule stick on the circle range more than 180 degrees in outside of the mounting ring; a zero mark located on the mounting ring on one end of the grating rule; first reader probe and second reader probe relative to the mounting ring fixed on the parts, wherein, the said first reader probe and second reader probe output end is connected to the reader through process circuit.
Description
Technical field
The present invention relates to scrambler, particularly a kind of wide bore rotary encoder, it is fit to the rotation angle measurement of any profile and size rotary part, is particularly suitable as a kind of heavy caliber, high-precision position transducer.
Background technology
In many Mechatronic Systems, all used and rotatablely moved, as: wheel disc, processing of wafers, lathe turning axle, angle measurement instrument or the like.Owing in transmission process, can introduce mechanical vibration and noise, these all can have influence on the precision of total system, therefore use rotary encoder usually as position transducer, by the feedback information of position closed loop introducing position of rotation, the deviation of constantly revising between controlled volume and the input quantity improves system accuracy.
Optical encoder mainly contains two kinds of increment type and absolute types because of it simply is constructed to one of a kind of the most frequently used position transducer.The cardinal principle of increment type optical encoder is summarized as follows: the light that send the read head bottom, tilt to impinge upon on the groove of metal grating scale, go into the read head bottom windows through groove reflection is laggard, be radiated on the photodetector array, photodetector is converted into polyphase current with light signal.These electric currents are converted into the sine and cosine electric current of 90 ° of a pair of phase phasic differences through after amplifying in advance by the simulation integration circuit.Further segment the back by sub-circuit and produce a pair of pulse signal that differed for 1/4 cycle.Utilize the counter pulse signals to count, by related software umber of pulse is converted into displacement again.This two pulse signals differ the detection that has guaranteed direction of motion.
Before rotary coder was not developed as yet, the manufacturer of production linear pattern scrambler used the metal grating scale to help the user to solve the problem of measurement of angle around the method for pasting usually.Scheme of installation is seen Fig. 1.Inevitably can produce seam when hand paste metal grating chi, read head finally can produce one section " blind area " that can't measure in the output of seam crossing pulse-free signal in the measurement of whole circumference.
Afterwards, manufacturers design went out circular scrambler, and had formed the complete sets of products of a series of parts such as grating scale, read head and reference marker and limit switch, in order to solve the seam problem that manual operations brings.But, still there is not circular scrambler product in the domestic and international market for the wide bore rotary encoder of diameter greater than 400mm.Can only adopt early stage method around stickup, but for some high precision, especially need to measure the situation of continuous rotation, the error that reading " blind area " is brought is unacceptable.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, the present invention has utilized linear pattern scrambler product design common on the market a kind of wide bore rotary encoder, it not only should guarantee the continuous coverage in the whole circumference scope, overcome above-mentioned measurement " blind area ", solved the application problem of wide bore rotary encoder.And be applicable to the measurement of the rotary part of various profiles and various sizes, have the precision height, applying flexible, simple to operate, the characteristics that cost is low.
Technical solution of the present invention is as follows:
1, a kind of wide bore rotary encoder, comprise the grating scale, first read head, second read head and zero mark, the formation that it is characterized in that this rotary encoder is: a mounting ring that is complementary with rotary part size to be measured, at this mounting ring) the outside paste described grating scale greater than 180 ° circumference range, end at this grating scale is installed in described zero mark on this mounting ring, first read head and second read head relatively are installed on the fixed part about this mounting ring, and the output terminal warp or the door treatment circuit of described first read head and second read head connect counter again.
Effect described or the door treatment circuit is: the reset signal V that at first utilizes first read head and second read head
A0, V
B0And add count signal+, subtract count signal-, to a pulse signals V of first read head
A1, V
A2Another pulse signals V with second read head
B1, V
B2Select, get respectively then or, obtain a final pulse signals V
1And V
2
Technique effect of the present invention and advantage:
1, the present invention is unrestricted to the caliber size of rotary part to be measured, as long as select the length of grating scale according to the bore of rotary part:
2, because of the present invention or door processing circuits not only guarantees the continuous coverage in the whole circumference scope, overcome the measurement " blind area " of prior art;
3,, the invention solves the application problem of wide bore rotary encoder through probationary certificate.And be applicable to the measurement of the rotary part of various profiles and various sizes, have the precision height, applying flexible, simple to operate, the characteristics that cost is low.
Description of drawings
Fig. 1 is the scheme of installation of existing wide bore rotary encoder.
The pulse misalignment that Fig. 2 may cause for prior art.
The pulse overlap situation that Fig. 3 may cause for prior art.
Fig. 4 is the front elevation of wide bore rotary encoder of the present invention.
Fig. 5 is the vertical view of wide bore rotary encoder of the present invention.
Fig. 6 is the logical circuitry of OR circuit in the rotary encoder.
Among the figure: the 1-mounting ring; 2-grating scale; 3-first read head; 4-second read head; 5-installs seam; 6-installs the fixed part of first read head; 7-installs the fixed part of second read head; The 8-zero mark; 9-or door treatment circuit; The 10-counter; The 11-user terminal; 12-first JK flip-flop; 13-second JK flip-flop; 14-the 3rd JK flip-flop; 15-the 4th JK flip-flop.
Embodiment
Below just the invention will be further described in conjunction with figure and a kind of specific embodiment, but should not limit protection scope of the present invention with this.
See also Fig. 4 and Fig. 5 earlier, as seen from the figure, wide bore rotary encoder of the present invention, comprise grating scale 2, first read head 3, second read head 4 and zero mark 8, the formation that it is characterized in that this rotary encoder is: a mounting ring 1 that is complementary with rotary part size to be measured, described grating scale 2 is pasted greater than 180 ° circumference range in the outside at this mounting ring 1, end at this grating scale 2 is installed in described zero mark 8 on this mounting ring 1, first read head 3 and second read head 4 relatively are installed on the fixed part about this mounting ring 1, and the output terminal warp or the door treatment circuit 9 of described first read head 3 and second read head 4 connect counter 10 again.
The present invention mainly conceives and is described below:
1, installation method:
The mounting ring 1 that the external form of an endoporus of making and rotary part to be measured is complementary.Grating scale 2 is pasted 180 ° of scopes around mounting ring 1 outside.First read head, 3, the second read heads 4 are installed in respectively on the fixed part on 6,7 for relative 180 °, also can two read heads be installed on the same fixed part according to actual conditions.To measure the column type turning axle is example, and the scheme of installation of grating scale 2, first read head, 3 second read heads 4 and zero mark 8 is seen Fig. 4 and Fig. 5.Mounting ring 1 is installed in the outside of rotary part, when rotary part moves, does relative motion between first read head 3, second read head 4 and the grating scale 2, produce two group pulse signal V
A1, V
A2And V
B1, V
B2When rotary part moves, first read head 3, the alternate cycles work in being stained with 180 ° of scopes of grating scale 2 of second read head 4, by or door treatment circuit 9 pairs two group pulse signals V
A1, V
A2And V
B1, V
B2Merge, obtain a pulse signals V of final measurement
1And V
2With pulse signal V
1And V
2Be connected to impulse meter 10, the number of this paired pulses counted by impulse meter 10.The counting pulse signal JSCP of impulse meter 10 output is connected to user terminal 11, is converted to the rotation parameter of UUT by software kit, comprises the sense of rotation and the anglec of rotation.
2 or the door treatment circuit:
Because the length of grating scale 2 can not assurance just be the integral multiple of its pitch, therefore when first read head 3 enters grating scale 2 parts, can and second read head 4 can cause or a result has two kinds of errors: overlapping and misplace.Overlapping situation and misalignment are respectively as Fig. 2, shown in Figure 3.The overlapping meeting of two row pulses causes or the pulse signal pulsewidth of door increases, and in the pulsewidth scope that treatment circuit can be distinguished, overlapping situation can allow.But inconsistent phenomenon is serious, can cause the phenomenon of double frequency pulse, brings very big reading error.
Behind first read head 3 and second read head, 4 setting in motions, the direction signal of a pair of complementation that will produce by impulse meter 10: add count signal "+" and subtract count signal mark "-".When first read head 3 or second read head, 4 process zero marks 8, portion's induction within it produces corresponding reset signal V
A0And V
B0An of the present invention or door treatment circuit 9 utilized above-mentioned direction signal+,-and reset signal V
A0, V
B0, to two group pulse signal V of two read head outputs
A1, V
A2And V
B1, V
B2Select.After a read head is started working, only the pulse of this read head output is counted, and the pulse of locked another read head output is counted the pulse of a read head output with regard to only remaining like this.Through the pulse V after such selection
1And V
2Deliver to counter 11 again and count, just can not cause above-mentioned two kinds of mistakes.
Or the logical circuitry of door treatment circuit 9 is seen Fig. 6.Overall logic can be divided into two parts by its function: the reset signal V that at first utilizes two read heads
A0, V
B0And add count signal+, subtract count signal-, to a pulse signals V of first read head 3
A1, V
A2Another pulse signals V with second read head 4
B1, V
B2Select, get respectively then or, obtain a final pulse signals V
1And V
2
The concrete formation of circuit is described as follows: the reset signal V of first read head 3 and second read head 4
A0And V
B0Respectively with add count signal+as input be connected to two with the door, two with output signals be D
1And D
2D
1As the J trigger pip of a JK12 trigger, D
2As the K trigger pip, and with V
B0Get the clock pulse signal of non-back as first JK flip-flop 12 by not gate, the output signal that obtains first JK flip-flop is D
1'.Similarly, D
2As the J trigger pip of second JK flip-flop 13, D
1As the K trigger pip, and with V
A0Get the clock pulse signal of non-back as trigger, the output signal that obtains second JK flip-flop is D
2'.Pulse signal V with first read head
B1And V
B2With D
1' through or the door get or after V
A1' and V
A2'.Same, the pulse signal V of second read head (4)
B1And V
B2Respectively with D
2' through or the door get or after V
B1' and V
B2'.The latter half circuit that count signal+change makes to subtract count signal-pie graph 6 that adds with in the above-mentioned pulse signal processing procedure obtains V
A1" and V
A2", V
B1" and V
B2".With the signal V after selecting
A1', V
B1', V
A1", V
B1" and V
A2', V
B2', V
A2", V
B2" be connected to respectively two or, obtain final set of pulses signal V
1And V
2
Turn clockwise with grating scale 2, first read head 3 is example with second read head, 4 relative being rotated counterclockwise, a general or door treatment circuit 9 courses of work are described below: when grating scale 2 turned clockwise, adding count signal "+" was high level, subtracted count signal "-" and was low level.V
A0, V
B0Respectively with the D that subtracts count signal warp or door generation
3, D
4Be low level.D
3In the time of as the 3rd trigger 14J signal also is the K signal of the 4th JK flip-flop, D
4In the time of as the 4th trigger 14J signal also is the K signal of the 3rd JK flip-flop 14, the 3rd JK flip-flop 14 and the 4th JK flip-flop 15 have only first JK flip-flop 12 and second JK flip-flop 13 all by locked under in running order as can be known by the principle of JK flip-flop.If first read head 3 enters the scope of pasting grating scale 2, then its reset signal V through zero mark 8
A0Be high level, and add the signal D of count signal through producing with door
2Also be high level, and the reset signal V of second read head
B0Be low level, it with add the signal D of count signal through producing with door
1Be low level.Meanwhile, add count signal and get the clock signal terminal that negative edge of non-back generation inputs to JK flip-flop, under the triggering of this negative edge, the output signal D of second JK flip-flop 13
2' be high level, and the output signal D of first JK flip-flop 12
1' be low level.The set of pulses signal V that first read head 3 produces
A1And V
A2With D
1' get with after the V that obtains
A1' and V
A2', promptly be V
A1And V
A2, and V
B1And V
B2Respectively with D
2' get or after the V that obtains
B1' and V
B2' being low level, no pulse is exported, therefore a pulse signals V who finally obtains
1And V
2Be exactly a pulse signals V of first read head 3
A1And V
A2, i.e. the step-by-step counting that first read head 3 is exported.
By said process as can be known, V when the 2 clockwise motions of grating scale
A0Signal is as first read head, 3 output pulse V
A1And V
A2, open signal and second read head output pulse V
B1And V
B2The pass signal, V as can be known in like manner
B0Signal is as second read head, 4 output pulse V
B1And V
B2Open signal and first read head 3 output pulse V
A1And V
A2The pass signal.Corresponding actual rotation situation is, when grating scale 2 turns clockwise, enter the scope of pasting grating scale 2 at first read head 3 after, to its pulse signal V
A1And V
A2Counting enters grating scale 2 backs at second read head 4 and uses its pulse signal V
B1And V
B2When grating scale 2 is rotated counterclockwise, just the opposite: V
A0Be the pass signal of first read head 3 and second read head 4 open signal, V
B0It is the pass signal of opening the signal and first read head 3 of second read head 4.Comprehensively as can be known, this or a door treatment circuit 9 have been realized " who enters the grating scale, to whose counting ".
The truth table such as the table 1 of overall logic.
Table 1
| Direction signal | Trigger pip | The trigger input | Trigger output | The work read head | ||||||||
| ?+ | ?- | Vao | ?Vbo | ?D1 | ?D2 | ?D3 | ?D4 | ??D1’ | ??D2’ | ??D3’ | ?D4’ | |
| ?1 | ?0 | ??↑ | ??0 | ?0 | ?↑ | ??0 | ?0 | ??0 | ???1 | ???0 | ???0 | ??A |
| ??0 | ??↑ | ?↑ | ??0 | ??0 | ?0 | ??1 | ???0 | ???0 | ???0 | ??B | ||
| ?0 | ?1 | ??↑ | ??0 | ?0 | ??0 | ??0 | ?↑ | ??0 | ???0 | ???0 | ???1 | ??B |
| ??0 | ??↑ | ?0 | ??0 | ??↑ | ?0 | ??0 | ???0 | ???1 | ???0 | ??A | ||
Select the increment type linear encoder of the Britain RGH22 of Renishaw company model for use, mainly comprise the metal grating scale of RGH20S model, RGH22Z model read head, and reference marker and limit switch also have the series installation aid.
Referring to installation method shown in Figure 4, make a mounting ring that is complementary with the rotary part size (1), paste metal grating scale 2 in its outside, because first read head 3 and second read head 4 self have certain length, in order to guarantee 360 ° range of readings, grating scale 2 should cover the circumference range that is slightly larger than 180 °.At grating scale 2 one ends, a zero mark 8 is installed on the mounting ring 1.Then first read head 3, second read head 4 are installed on the fixed part 6,7 for relative 180 ° along the diametric(al) of mounting ring 1, and are spaced apart 0.8mm between the grating scale 2.At last, from first read head 3 or second read head 4 with reset signal V
A0, V
B0And direction signal "+", "-" that counting circuit produces are incorporated into or door treatment circuit 9.
With mounting ring 1 be rotated counterclockwise, relative two read heads of example explanation that clockwise turn to second read head 4 of first read head 3 are cooperatings how.The count signal that adds of expression read head sense of rotation is a high level, and subtracting count signal is low level.The initial position of supposing first read head 3 and second read head 4 is that position shown in Figure 3 is taken back 20 °.Rotate to these 20 ° of scopes of grating scale 2 at first read head 3, second read head, 4 work countings.When first read head was about to rotate to grating scale 2 parts, zero mark 8 portion's induction within it generated reset signal V
A0Be upgraded to high level.Shown in truth table, V
A0Rising edge closed second read head 4 trigger and with door, open simultaneously first read head 4 trigger and with door.Like this, just avoided two read heads the junction among a small circle in have the situation of pulse output simultaneously.After first read head 3 entered grating scale 2, ensuing 180 ° of scopes were just by the step-by-step counting to 3 outputs of first read head.
When first read head 3 is about to leave grating scale 2, second read head, 4 process zero marks 8, the reset signal V that this zero mark 8 produces
B0Be upgraded to high level.Same, V
B0Open second read head 4 trigger and with door, close simultaneously first trigger 3 and with door, export pulse problem simultaneously to solve.Ensuing 180 ° of scopes are counted the pulse of second read head, 4 outputs.
First read head 3, second read head 4 as the work of above-mentioned process alternate cycles have promptly realized the measurement of angle to the whole circumference scope.For other initial positions and in motion process reverse situation, in like manner can realize measuring, do not repeat them here.
Through probationary certificate, the invention solves the application problem of wide bore rotary encoder.And be applicable to the measurement of the rotary part of various profiles and various sizes, have the precision height, applying flexible, simple to operate, the characteristics that cost is low.
Claims (2)
1, a kind of wide bore rotary encoder, comprise grating scale (2), first read head (3), second read head (4) and zero mark (8), the formation that it is characterized in that this rotary encoder is: a mounting ring (1) that is complementary with rotary part size to be measured, described grating scale (2) is pasted greater than 180 ° circumference range in the outside at this mounting ring (1), end at this grating scale (2) is installed in described zero mark (8) on this mounting ring (1), first read head (3) and second read head (4) relatively are installed on the fixed part about this mounting ring (1), and the output terminal warp or the door treatment circuit (9) of described first read head (3) and second read head (4) connect counter (10) again.
2, the wide bore rotary encoder based on the linear grating chi according to claim 1 is characterized in that effect described or door treatment circuit (9) is: the reset signal V that at first utilizes first read head (3) and second read head (4)
A0, V
B0And add count signal+, subtract count signal-, to a pulse signals V of first read head (3)
A1, V
A2Another pulse signals V with second read head (4)
B1, V
B2Select, get respectively then or, obtain a final pulse signals V
1And V
2
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410084273 CN1277104C (en) | 2004-11-17 | 2004-11-17 | Wide bore rotary encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410084273 CN1277104C (en) | 2004-11-17 | 2004-11-17 | Wide bore rotary encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1603756A true CN1603756A (en) | 2005-04-06 |
| CN1277104C CN1277104C (en) | 2006-09-27 |
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ID=34667047
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410084273 Expired - Fee Related CN1277104C (en) | 2004-11-17 | 2004-11-17 | Wide bore rotary encoder |
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| Country | Link |
|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410667C (en) * | 2006-06-12 | 2008-08-13 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low speed measuring-correcting instrument and ocrrecting method |
| CN109211175A (en) * | 2018-09-18 | 2019-01-15 | 中国科学院长春光学精密机械与物理研究所 | Blind area data processing method when a kind of straight line steel band encoder angle measurement |
| CN109990805A (en) * | 2019-04-12 | 2019-07-09 | 广东工业大学 | Rotary encoder |
| CN110580058A (en) * | 2019-08-28 | 2019-12-17 | 北京无线电计量测试研究所 | Rotary motion position feedback device and feedback method |
-
2004
- 2004-11-17 CN CN 200410084273 patent/CN1277104C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410667C (en) * | 2006-06-12 | 2008-08-13 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low speed measuring-correcting instrument and ocrrecting method |
| CN109211175A (en) * | 2018-09-18 | 2019-01-15 | 中国科学院长春光学精密机械与物理研究所 | Blind area data processing method when a kind of straight line steel band encoder angle measurement |
| CN109990805A (en) * | 2019-04-12 | 2019-07-09 | 广东工业大学 | Rotary encoder |
| CN110580058A (en) * | 2019-08-28 | 2019-12-17 | 北京无线电计量测试研究所 | Rotary motion position feedback device and feedback method |
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| Publication number | Publication date |
|---|---|
| CN1277104C (en) | 2006-09-27 |
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