CN203083583U - Absolute-type magnetic-rotation encoder - Google Patents
Absolute-type magnetic-rotation encoder Download PDFInfo
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- CN203083583U CN203083583U CN 201320059581 CN201320059581U CN203083583U CN 203083583 U CN203083583 U CN 203083583U CN 201320059581 CN201320059581 CN 201320059581 CN 201320059581 U CN201320059581 U CN 201320059581U CN 203083583 U CN203083583 U CN 203083583U
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Abstract
The utility model provides an absolute-type magnetic-rotation encoder including a rotary shaft, a plurality of rotary wheel capable of rotating along with the rotary shaft, a plurality of encoding units corresponding to the rotary wheel respectively and one or more permanent magnet assembly providing magnetic field bias for the encoding units. Each of the encoding units includes a magnetic-conducting encoder round disc with a structure capable of changing magnetic conductivity of the magnetic-conducting encoder round disc relatively to positions of the rotary shaft, and a sensor unit including a plurality of magnetic sensors. The sensor unit is used for sensing magnetic conductivity of the magnetic-conducting encoder round disc and outputting sensing signals used for representing relative positions of the magnetic-conducting encoder round disc. According to the sensing signals of the sensor unit, the encoding units output numerical values representing selected rotation positions of the corresponding rotary wheels. According to the utility model, the absolute-type magnetic-rotation encoder that is low in cost and simple in structure and provided with accurate magnetic-conducting encoder round disc can be obtained.
Description
Technical field
The utility model relates to rotary encoder.More specifically, the utility model relates to a kind of improved absolute type magnetic rotary encoder.
Background technology
Existing encoder can be used for that the water power table is checked meter and the long-time remote monitoring total flow of other needs Anywhere.They be included in wherein gas or during liquid flow at the runner of rotation.The rotating cycle of the runner of monitoring can be given in the direct measurement of passing through the total flow of runner any time.Common encoder type for example has optics, electricity contact and inductance scrambler.Absolute encoder is a subclass of all scramblers, and they provide the rotary position information of each runner any time, and does not need to monitor the pulse that the motion by runner causes.Scrambler generally includes typical runner and corresponding output is provided.Though there are other may counting mode, each runner has 10 different numerals usually, and for example the encoder wheel numbering can from 0 to 9.Except the output of electronics numerical value is arranged, also may provide visual reading.A kind of common scrambler disposes at least one runner, if be decades or longer writing time, then needs more runner.At least one runner is installed together, and first runner changes a whole circle, will make second runner change 0.1 circle, also can be other rotation ratio.Equally, except last runner, the complete rotation of N runner makes N+1 runner rotation 0.1 circle.This many wheel assemblings just can be write down the reading of decades.
Existing coding techniques also comprises light transmission coding, light reflection code and electrically contact coding.Optical means is subjected to the problem from dirt and light pollution, because light source and the required electronic component of photo-detector cause expense higher.Electrically contact the As time goes on aging low problem of reliability that suffers of scrambler.Other coding techniquess in existing field also have the magnetic target of alternating magnetization and the detector of magnetoelectricity sense.Magnetic target is more expensive, and their precision own is subject to the ability of the permanent magnetization of material.
Therefore, need a kind of cost lower, simpler, may more accurate magnetic coder disk will be useful to flowmeter and ammeter industry.
The utility model content
The purpose of this utility model is to overcome the above problem that prior art exists, and provides a kind of improved electronics absolute magnetic rotary encoder technology.Concrete technological improvement comprises following content: 1) use magnetizable " soft magnetism " property material on the magnetic coder disk than in easier formation structural change 2 on the permanent magnet) have near a magnetic switch circuit that can magnetic transition, reduce output noise, 3) comprise optional magnetic flux closing device, be used to reduce the magnetic " string sound " of adjacent runner, 4) according near the simulation disk in the sensitive axes plane and measure the geometry designs that resulting magnetic field value is adjusted disc structure, 5) design can encode and can decode the 4-sensor and the 5-sensor of 10 different rotary positions.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions:
A kind of magnetic rotary encoder comprises
Turning axle,
A plurality of can be with the runner of described turning axle rotation,
With a plurality of one to one coding units of described a plurality of runners and
For described a plurality of coding units provide one or more permanent magnet assemblies of magnetic field biasing,
It is characterized in that,
Each coding unit comprises:
Magnetic conductivity encoder disk, the structure setting on it can make its magnetic permeability with respect to the difference of the position of described turning axle and different and
Comprise the sensor unit that is arranged on a plurality of Magnetic Sensors in the same induction planes, be used to respond to the magnetoconductivity of magnetic conductivity encoder disk, output characterizes the induced signal of described magnetic conductivity encoder disk relative position, and described induction planes is approximately perpendicular to described turning axle
For described magnetic conductivity encoder disk and described sensor unit, both central one together rotate with described runner, another maintenance is motionless.
According to the induced signal of described sensor unit, the output of each coding unit characterizes the numerical value of the position of rotation that the corresponding runner of institute selectes.
Preferably, the magnetization direction of the magnetization direction of described one or more permanent magnet assemblies and described magnetic conductivity encoder disk respectively with the axial almost parallel of described turning axle, and the radially almost parallel of the inductive axis of each sensor and described turning axle.
Preferably, each sensor unit comprises 4 or 5 magnetoresistive transducers, and each runner is selected 10 position of rotation.
Preferably, this magnetic rotary encoder comprises a plurality of permanent magnet assemblies with the corresponding one by one setting of described a plurality of coding units.
Preferably, this magnetic rotary encoder comprises and is respectively a plurality of permanent magnet assemblies that two coding units provide biasing.
Preferably, each permanent magnet assembly comprises at least one annular permanent magnet or a plurality of permanent magnets that are circular layout.
Preferably, each coding unit further comprises the flux closure device of being made by soft magnetic material.
Preferably, the structure of described magnetic conductivity encoder disk comprises at least one groove that is formed in the described magnetic conductivity encoder disk.
Preferably, the structure of described magnetic conductivity encoder disk comprises at least one projection and/or the trimmer that is formed in the described magnetic conductivity encoder disk.
Preferably, the material of making of described permanent magnet assembly is to be selected from a kind of in barium ferrite, vectolite, neodymium iron boron, the ferrite.
Preferably, the material of making of described magnetic conductivity encoder disk is to be selected from a kind of in ferronickel permeability alloys, soft iron, Alperm, mild steel, the soft magnetic ferrite.
Preferably, in each coding unit, the minor increment in gap is 0.1-4mm between magnetic conductivity encoder disk and the described magnetic sensor unit.
According to the utility model, it is lower to obtain cost, simpler, has the magnetic rotary encoder of more accurate magnetic coder disk.
Description of drawings
Figure 1A-1D illustrates the magnetic rotary encoder assembling synoptic diagram according to the utility model embodiment 1.
Fig. 2 A-2E illustrates the magnetic rotary encoder assembling synoptic diagram according to the utility model embodiment 2.
Fig. 3 A-3B is the synoptic diagram of a coding unit in the magnetic rotary encoder of embodiment 3.
Fig. 4 A-4B is the synoptic diagram of a coding unit in the magnetic rotary encoder of embodiment 4.
Fig. 5 A-5B is the synoptic diagram of a coding unit in the magnetic rotary encoder of embodiment 5.
Fig. 6 A-6B is the structural representation of a coding unit in the magnetic rotary encoder of embodiment 7.
Fig. 7 A-7C is the coding principle of a coding unit in the magnetic rotary encoder of embodiment 7.
Fig. 8 A-8B is the response curve of a sensor in coding unit in the magnetic rotary encoder of embodiment 7.
Fig. 9 A-9B is the structural representation of a coding unit in the magnetic rotary encoder of embodiment 8.
Figure 10 A-10C is the coding principle of a coding unit in the magnetic rotary encoder of embodiment 8.
Figure 11 A-11B is the response curve of a sensor in coding unit in the magnetic rotary encoder of embodiment 8.
Figure 12 is the encoder disk of porose, trimmer and elevated regions.
Embodiment
Come the utility model is elaborated with reference to the accompanying drawings and in conjunction with the preferred embodiments.Among each figure, the same or analogous parts of same or analogous designated.
Figure 1A-1D illustrates according to a kind of many wheel rotary encoder assembling synoptic diagram of the present utility model, and the different visual angle figure of the absolute type magnetic rotary encoder with 5-runner is shown respectively.Rotary encoder among Fig. 1 comprises that 107,5 on turning axle can be with the runner 101,102 of turning axle 107 rotations ..., 105, with runner 5 coding units and the permanent magnet 114 of magnetic field biasing is provided for one or more coding units one to one.Rotary encoder comprises rotating part and fixed part, and rotating part energy rigid support encoder disk is rotated with described turning axle with runner under the moment loading outside, and fixed part can not rotate with turning axle, can be installed on the fixed support.Each coding unit comprises magnetic conductivity encoder disk 110 and sensor module 117.Magnetic conductivity encoder disk 110 has certain geometry, and is set to the sensitive surface rotation with respect to sensor module.When providing magnetic bias for magnetic conductivity encoder disk 110, each sensor that being provided with in the permanent magnet 114 can make in the sensor module is not in the operated in saturation mode.Be formed on the magnetic switch output circuit that has magnetic hysteresis character on the PCB112, the induced signal of autobiography sensor generates simple two condition output signal in the future, and can reduce the electronics output noise that rotates when sensor is changed in magnetic field.Structure on the magnetic conductivity encoder disk 110 be arranged so that its magnetic permeability with it with respect to the difference of the position of turning axle 107 and difference.Encoder disk 110 has and the corresponding a plurality of select locations of a plurality of selected position of rotation of runner.Each position in a plurality of select locations that rotate with angle, this magnetic conductivity encoder disk with geometry provides one group of unique magnetic field for a plurality of sensors in the sensor module.Sensor module 117 comprises a plurality of Magnetic Sensors 116 that are arranged in the same induction planes, and this induction planes is perpendicular to turning axle.When sensor module 117 during with respect to the corresponding circle disc spins, the magnetoconductivity of the magnetic conductivity encoder disk that the sensor module induction is corresponding, output characterizes the induced signal of this magnetic conductivity encoder disk select location.The angle position of encoder disk is relevant with sensor module, can produce digital code, provides the magnetic space encoding to sensor module thus.According to the induced signal of described sensor module, each coding unit output characterizes the numerical value of the selected position of rotation of corresponding runner.
For example, this rotary encoder provides total visual means of rotating and the electronics mode that rightmost runner 101 turns over that write down.Visual record is for example top from each runner.Therefore, when present reading is 00019 circle, this means that rightmost counting runner 101 has changeed whole second circle that is near completion that encloses.We are with its called after " 10
0", because this representative is the magnitude of radix with 10.From right penult counting runner 102, be named as " 10w ", third from the bottom runner 103 is named as " 10 from the right side
2".From a right fourth from the last counting runner 104, be named as " 10
3".Third from the bottom counting runner 105 is named as " 10 from the right side
4".
The rotation of the rotation of runner 102 and runner 101 with the relationship of 10:1 together.This means 10
0Runner 101 revolutions 10 circles make 10
1Runner 102 changes 1 circle.In the same way, 10
1Runner 102 revolutions 10 circles make 10
2Runner 103 changes 1 circle.More generally, 10
NRunner revolution 10 circle makes adjacent 10
N+1Runner changes 1 circle, and N is a natural number.Though this figure has shown 5-runner scrambler, same description can be applied on the scrambler with any amount counting runner at an easy rate.
In the rotary encoder according to the utility model preferred embodiment 1, permanent magnet is corresponding one by one with coding unit.
As shown in Figure 1, each counting runner all has a permanent magnet corresponding with it, also is that each coding unit is corresponding one by one with permanent magnet.Figure 1A is the right view of wheel set assembly 5, and Figure 1B is the main pseudosection of rotary encoder 100.For easier main two parts of seeing runner clearly, the right view of runner is divided into Fig. 1 C and 1D two parts.In this embodiment, shown in Fig. 1 C is fixed part, the rotating part of Fig. 1 D shown in being.All runners 101,102 ..., 105 distaffs, 106 rotations, bar 106 is coaxial with turning axle 107.In order to allow magnetic conductivity encoder disk 110 and runner 101, magnetic conductivity encoder disk 110 can be installed on the runner 101 together around axle 107 rotations.Magnet 114 is not installed in rotary manner, but is fixed on the outside support, and printed circuit board (PCB) (PCB) 112 is also fixed.To PCB112, PCB112 also connects for sensor 116 provides electricity by physical connection for five Magnetic Sensors 116.1,116.2,116.3,116.4,116.5.In this example, PCB112 and sensor 116 combine and are called as sensor module 117, and sensor module 117 and fixed magnet 114 can form stationary installation 122.
In the rotary encoder according to the utility model preferred embodiment 2, two counting runners can be shared a magnet.
As shown in Figure 2, the layout of fixed magnet 114 is different from the permanent magnet layout of implementing in 1 among the embodiment 2.Fig. 2 A is the right view of coding unit, and Fig. 2 B is the main pseudosection of rotary encoder 200.In order to see runner clearly easilier, the position relation of various pieces such as coding unit and magnet is further divided into three of 2C-2E with Fig. 2 A and illustrates.Fig. 2 C and Fig. 2 E are respectively two fixed parts, and Fig. 2 D is the rotating part of runner.In Fig. 2, a magnet 114 can be two sensor modules provides biasing, and the magnetic field that each magnet 114 produces can be measured by two sensor modules 117 of its both sides.Under this arrangement, for example magnet 114 has formed an independent stationary installation 123.Whirligig 121 can with the same structure among Fig. 1, sensor module 117 also forms stationary installation 122 '.
In runner rotary encoder more than, the scheme of this embodiment has been saved space and cost.
This embodiment can be used in combination with other embodiment.
In the coding unit according to the utility model preferred embodiment 3, magnet is positioned on the runner, can rotate around turning axle with runner together with encoder disk, and the sensor module that comprises 5 sensors is by the stationary installation holding position, as shown in Figure 3.
Fig. 3 A is the right view of a coding unit, and Fig. 3 B is the sectional view along A direction among Fig. 3 A.In order more to see other elements clearly, PCB112 only has a profile diagram in Fig. 3 A.Under this arrangement, magnet 114 is arranged on the runner 101 and disk 110 is very pressed close to even contact, and these elements are together around axle 107 rotations.In Fig. 3, PCB112 for example is a rectangle.Be appreciated that PCB112 can not only provide electrical connection for sensor 116.1-116.5, also can be rotary wheel device support structure is provided.
Active component in the sensor 116 is provided with near the magnetic conductivity encoder disk, and they have sensitivity in the direction perpendicular to turning axle.Be referred to as induction planes 124 by sensing element and the plane that is parallel to each sensor sensing axle.In this figure, the inductive axis of each sensor all is designed to the radial parallel with turning axle, and inductive axis is corresponding with the short side direction of each sensor.As non-specified otherwise, all will adopt this scheme hereinafter.
Ring-shaped magnet shape among this embodiment shown in the layout of magnet 114 and Fig. 1 and Fig. 2 is similar.The magnetization 184 directions of magnet 114 and turning axle 107 almost parallels, and with consistent in the distribution of magnet 114 inside.The magnetic field line of the stray magnetic field of magnet 114 also with turning axle 107 almost parallels.Magnetic conductivity encoder disk 110 is with the runner rotation, and the surface of revolution that rotation obtains is at disk plane 125 places, and is parallel with induction planes 124.These two apart coming in plane have the gap between the plane 124 and 125, in the drawings with shown in the G126.This gap is set to the relative rotation between both convenient two induction planes and the disk, makes sensor that the magnetoconductivity of disk is had responsive and accurate induction again.Adopt single integral ring-shaped magnet design, although each the sensor angle position difference in 5 sensors, the magnetic field effect of magnet at each sensing station place is identical.Be appreciated that this situation to finding a great convenience by the angle of observing ring-shaped magnet 114 and sensor 116.Along with the rotation of disk 110, any variation in magnetic field all only is because the geometry 113 of disk causes in the sensor.
Some materials that may be used for permanent magnet 114 comprise barium ferrite, vectolite, neodymium iron boron, ferrite and any other common permanent-magnet materials.After a saturation magnetic field removed, these common permanent-magnet materials still had very strong magnetic field intensity, and needed a big relatively magnetic field that its magnetic field intensity is reached capacity.Some materials that may be used for magnetic conductivity encoder disk 110 have ferronickel permeability alloys, soft iron, Alperm, mild steel, soft magnetic ferrite.Here, " soft magnetism " is meant that the clean magnetic field intensity of delay is very little with respect to saturation magnetic field intensity, and a less relatively magnetic field just can make magnetic field intensity reach capacity.
In coding unit according to the utility model preferred embodiment 4, comprise that the magnet assemblies of 5 little permanent magnets is formed on the stationary installation, sensor module comprises 5 sensors, as shown in Figure 4.Fig. 4 A is the right view of coding unit among the embodiment 4, and Fig. 4 B is the sectional view along A direction among Fig. 4 A.In order clearlyer to see other elements clearly, machinery mount 131 only has a profile diagram in Fig. 4 A, and 5 little permanent magnets 114.1,114.2,114.3,114.4,114.5 and PCB112 also have only a profile diagram.Under this arrangement, little permanent magnet 114.1-114.5 is placed on the machinery mount 131, makes its axis of symmetry parallel with turning axle 107, and axis of symmetry can pass through corresponding sensor 116.1-116.5.Magnet 114 and sensor 116 all are positioned on the mechanical fastening system.In this figure, PCB112 is circular.It can be for sensor 116.1-116.5 provides electrical connection, and structurally, PCB112 depends on machinery mount 131 and by its support.
In the present embodiment, the setting of sensor module is identical with front embodiment 3.Active component among the sensor 116.1-116.5 is provided with near the magnetic conductivity encoder disk, and these elements have sensitivity on the plane perpendicular to turning axle.Be referred to as induction planes 124 by sensor element and the plane that is roughly parallel to each sensor sensing axle.In this figure, the inductive axis of each sensor all is designed to and radial parallel, and this short side direction with each sensor is corresponding.Encoder disk is positioned at 125 places, plane apart from the nearest surface of revolution in sensor sensing plane, and the space between the plane 124 and 125 is referred to as clearance G 126.
In the present embodiment, the offset design that is circular layout about turning axle of permanent magnet and some difference of ring-shaped magnet shape shown in Fig. 1 and Fig. 2.Each permanent magnet assembly comprises a plurality of permanent magnets, and each permanent magnet is corresponding with a sensor.Magnet 114.1,114.2,114.3,114.4,114.5 magnetization direction 184.1,184.2,184.3,184.4,184.5 separately is all parallel with the direction of turning axle 107, and consistent with magnet 114.1-114.5 internal direction.Though have some magnetic field lines crooked inevitable in the stray magnetic field of magnet 114.1-114.5, also with turning axle 107 almost parallels.Magnetic conductivity encoder disk 110 rotation so that its surface of revolution at disk plane 125 places, parallel with induction planes 124.Clearance G 126 apart come of these two planes to set, this gap is preferably 0.1-4mm.Because magnet 114.1-114.5 is installed on the fixation of sensor assembly 117 firmly, so though the angle position of sensor is different, but these 5 little magnet offset design have been arranged, and the magnetic field effect of permanent magnet all is identical on each sensor in 5 sensors.Along with the rotation of disk 110, the variation in magnetic field all only is owing to structural change 113 in the disk 110 causes in any sensor.
This magnetic bias design has the bias magnet 114.1-114.5 outside gap 126, just magnet 114.1-114.5 is positioned at the side of sensor 116.1-116.5 away from disk 110, rather than in embodiment 3 in disk 110 that side away from sensor.
Selectable ferromagnetic material is identical with embodiment 3 with disc material in the present embodiment 4.In the present embodiment, having introduced the situation of the corresponding little permanent magnet of a sensor, accurately is 5 sensor-5 permanent magnets.In principle, this situation is applicable to any amount of sensor and permanent magnet, and an embodiment of back will describe the situation of 4 sensor-4 permanent magnets.
In coding unit, comprise 1 the big ring-shaped magnet and 4 sensors on stationary installation that are formed on the whirligig, as shown in Figure 5 according to the utility model preferred embodiment 5.Fig. 5 A is the right view of coding unit among the embodiment 5, and Fig. 5 B is the sectional view along A direction among Fig. 5 A.In this embodiment, increase optional magnetic and closed flux plate 133, and only used 4 sensor 116.6-116.9; Compare with embodiment 3, the gap between ring-shaped magnet 114 and the disk 110 increases.In this figure, PCB112 is circular, and it provides electrical connection for sensor 116.6-116.9.
The embodiment 4 of design of induction installation in the present embodiment and front is similar, but is to have only 4 sensors rather than 5 with embodiment 4 obvious differences.Active component among the sensor 116.6-116.9 is provided with near the magnetic conductivity encoder disk, and these elements have sensitivity on the surface that is parallel to PCB.Be referred to as induction planes 124 by sensing element and the plane that is parallel to each sensor sensing axle.In this figure, the inductive axis of each sensor all is designed to and radial parallel, and this short side direction with each sensor is corresponding.From the nearest disc surfaces of sensor is that the space between the plane 124 and 125 is referred to as the gap at disk plane 125 places, and the distance of setting is shown in G126.
In the present embodiment, the shape of ring-shaped magnet is similar among the shape of magnet 114 and Fig. 1 and Fig. 2, and the magnet offset design is similar to Example 3.The direction of the magnetization intensity vector 184 of magnet 114 is parallel with the direction of turning axle 107, and with consistent in the distribution of magnet 114 inside.Though have some magnetic field lines crooked inevitable in the stray magnetic field of magnet 114, magnetic field line also with turning axle 107 almost parallels.Magnetic conductivity encoder disk 110 rotation so that its surface of revolution at disk plane 125 places, parallel with induction planes 124.Clearance G 126 apart come of these two planes to set, this gap is preferably 0.1-4mm.Because magnet 116.6-116.9 is installed on the fixation of sensor assembly 117 firmly, so though the angle position of sensor is different, but the design of this big ring-shaped magnet has been arranged, and the magnetic field effect of magnet all is identical on each sensor in 4 sensors.Just be appreciated that this situation by the angle symmetric case of observing corresponding to the ring-shaped magnet 114 of sensor 116.6-116.9.Along with the rotation of disk 110, the variation in magnetic field all only is owing to structural change 113 in the disk 110 causes in any sensor.
In this example, add magnetic and closed flux plate 133.This plate is to be made by soft magnetic material, and this and those to be used for the material of disk 110 similar a bit, but not necessarily identical.It is to be used for reducing bias magnet 114 in the reluctance path away from the magnetic flux of the dorsal part of clearance G 126 that magnetic is closed flux plate 133.This close the flux plate can reduce assembly for example in assembly 102 and other the assembly in the stray magnetic field at other runner place; Can reduce the magnetic interference of other field source that comprises the external magnetic field; And improve magnetic flux from magnet 114 to the efficient of transmitting the appointed area.
Identical among selected magnet and disc material and the embodiment 3 among the embodiment 5, magnetic is closed the materials similar of flux plate 133 selected materials and soft magnetic conductivity encoder disk 110.
This embodiment can use in conjunction with other embodiment.
In present embodiment 6,4 sensors and 4 little permanent magnets are arranged on stationary installation.A present embodiment accompanying drawing of no use represents that accurately it combines the design among Fig. 4 and Fig. 5.Identical among the position of sensor 116.6-116.9 and Fig. 5 A, these 4 sensors have identical angle position with respect to turning axle 107.The design of the little permanent magnet position shown in Fig. 4 A and Fig. 4 B has been used for reference in the position of 4 little permanent magnets.As can be seen from Figure 4, little permanent magnet 114.1-114.5 is installed in the back side of support 131, and their central straight is connected on the center of sensor 116.1-116.5.In order to make this design be applicable to present embodiment, the place-centric of 4 little permanent magnets is identical with the center of 4 sensor 116.6-116.9.In the present embodiment, there is not big ring-shaped magnet 114.
In ensuing embodiment 7 and embodiment 8, magnetic field offset design and magnetic encoder design are further specified.What show in Fig. 6, Fig. 7 and Fig. 8 is the 5-sensor design of embodiment 7.What show in Fig. 9, Figure 10 and Figure 11 is the 4-sensor design of embodiment 8.
What Fig. 6 A and Fig. 6 B showed is right view and the sectional view of disk 110, magnet 114 and sensor 116.1-116.5, so that clearly demonstrate magnetic field offset design and magnetic encoder design and the position of magnetic field sensor and the relation of direction and these designs.Obtain sectional view D from Fig. 6 A, shown in Fig. 6 B.The transverse axis that indicates R below is by resultant through the straight line of θ=0 among Fig. 6 A ° and θ=180 ° two positions.Z-axis Z-direction among Fig. 6 B is identical with turning axle 107 directions, all points to outside the plane of Fig. 6 A.
Fig. 6 A has marked several radius values.The inside radius of disk 110 is 166R
DI, external radius is 167R
DOThe inside radius of ring-shaped magnet 114 is 164R
MI, external radius is 165R
MOStructural change 113.1 and 113.2 interior external radius are respectively 162R
VIAnd 163R
VOThe inside radius that is referred to as the broken circle of 190 tracks is R
Track161.Track 190 is the non-physical markings that show ring-shaped magnet 114 and disk 110 radial symmetry.R
Track161 just in time is 166R
DIAnd 167R
DOMean value, also be 162R
VIAnd 163R
VOMean value.Should be appreciated that does not generally need this symmetry, and the utility model is that example describes at this with this structure, to simplify description and the understanding near magnetic field those objects.
Fig. 6 B is the example of magnetic field biasing.Magnet 114 is permanent magnets, and the direction of its magnetization 184 is parallel to Z axle and turning axle 107, and this direction is represented with the filled arrows on the magnet 114.Magnetic conductivity disk 110 is soft magnetic material disks, this means that it only has only significant internal magnetization intensity if add an external magnetic field.The internal magnetization intensity of the disk magnetization 182 expression disks 110, it is represented with the white hollow arrow.With reference to the figure of figure 6A, just can find out one sensor 116.1 is arranged and structural change 113.1 is arranged again in disk 110 in ° position, θ=0, and in ° position, θ=180, both do not had sensor, and also do not had structural change, these differences just can be found out in the figure bottom.
Large amplitude magnetic field can by near parallel-plate permanent magnet situation about producing under, the characteristic of the magnetizable soft magnet magnetic sheet that exists in this magnetic field is very common in document.The magnetization 182 of disk 110 is parallel to the magnetization 184 of magnet 114, and the magnetic field 181 ' in these two magnetization parallel-plates also is parallel to the magnetization 184.For compare with the radius size of plate two plates very close to situation, top saying just can be set up.At the edge near magnet 114, magnetic field 181 ' is not to be evenly distributed, and is to blaze abroad in magnet.At radius R
TrackThe place, the central magnetic field of magnet 114 is uniform magnetic fields.This phenomenon in magnetic field 181 ' is presented in Fig. 6 B right side.
In contrast, in Fig. 6 B left side, the magnetic field 181 between magnet 114 and the disk 110 is at radius R
TrackThe place is non-uniform magnetic field, and this is the reason that exists owing to structural change 113.1.Structural change 113.1 causes and can not one parallel-plate be arranged the image pattern right side like that.On the contrary, lines of magnetic induction tends to propagate along low magnetic resistance direction, that is to say, along the material place propagated that maximum permeability is arranged.There is shown lines of magnetic induction 181 in the image pattern left side in this path.Illustrate that there is lines of magnetic induction in the place that does not have in the drawings obviously to show, lines of magnetic induction is to flow out from the top of disk 110, and from the bottom inflow of magnet 114, the abridged lines of magnetic induction has constituted the complete flux loop by permanent magnet 114 generations.
Sensor 116.1-116.5 arranges like this it is at the concrete angle place of their positions, and their axial sensitivity can be with radially R be parallel.They do not have sensitivity in Z-direction and θ direction.Fig. 6 A has shown the angle of each sensor position and their sensitive direction, with [sensor: sensitivity angle (degree)] expression, [116.1,0], [116.2,72], [116.3,144], [116.4,216], [116.5,288].The radius of their position is also than 161R
TrackBig a little.According to Fig. 6 B, can see at R
TrackOuter magnetic field is ° more outwardly-bent than big left half of θ=0 of radius R, and half of θ=180 are ° not crooked on the right side.Magnetic field means that in radially positive dirction bending being parallel to radially positive dirction θ=0 ° has sub-fraction magnetic field.Radial component B at sensing station
RadialThe magnetic analog result be the curve of being described among Fig. 8 down 191.Sensor 116.1 is designed to component B
RadialSensitivity is arranged, but to component B
zNo.If Fig. 6 B were right side θ=180 ° of sensors locating would be greater than radius R
TrackThe place can not measure any magnetic field, and this is owing to ° locate B in θ=180
Radial=0.In a word, along with disk 110 rotates with respect to fixation of sensor 116.1-116.5, the magnetic field amplitude that is recorded by sensor is very little, but when a particular sensor is near structural change, the magnetic field amplitude value is greater than zero, and sensor is far away more from structural change, and amplitude approaches zero more.
Therefore, when disk rotated around sensor, Magnetic Sensor can survey on the soft magnetic conductivity disk whether structural change is arranged.This effect is used to design magnetic encoder.Each sensor by the predetermined angular position setting can both provide electric signal, disk position difference, and pairing electric signal is also inequality.Electronic circuit can be converted into digital signal with the simulating signal of Magnetic Sensor, and for example, 1 representative has structural change, and 0 representative does not have structural change.And if make one group of structural change, for example structural change 113,1 and 113.2, so when encoder wheel 101 and disk 110 together rotate with respect to fixation of sensor, in 10 positions of encoder wheel 101, a series of signal that each position obtains from sensor 116.1-116.5 all is different.
Total figure of such encoding scheme, as shown in Figure 7.Fig. 7 A has shown 10 the different angles positions of disk 110 with respect to sensor 116.1-116.5.In the table of Fig. 7 B, the numeral in " numeral " hurdle corresponding to each position in 10 positions on runner, show numbering." angle " hurdle demonstrates from the numerical value of the anglec of rotation θ of θ=00 beginning." sensor number " hurdle has shown the numbering for the fixing circuit board upper sensor of given angle position." sensor output value " hurdle shows the signal output of each sensor in 5 sensors.These 5 values are combined the code value " 1 " that formed each angle place and the combination of " 0 ".These 5 digit numerical code are each marks above the annulus among Fig. 7 A.For example arrange on the numeral 4, the right side is from θ=0 ° beginning along clockwise commentaries on classics: sensor 116.1 and 116.4 not counter structure changes, and sensor 116.2,116.3 and 116.5 counter structures change.When rotation angle value is θ=144 °, this situation will occur, and output code is 10010.
Fig. 8 illustrates the output of 5-switch sensor and the relation curve between the magnetic field.When the disk anglec of rotation from θ=0 ° to θ=360 a ° whole circle, ° sensor of locating 116.1 magnetic fields measured and that expection exists are shown in Fig. 8 A in θ=0.The below of figure axis is the anglec of rotation of disk 110, and left side axle is the magnetic induction density component B that obtains from magnetic field model
RadialMagnetic field (Gauss)-angle (degree) relation curve is the heavy line that indicates diamond sign among the figure, and promptly curve 191.Right axis is the sensor output voltage of magnetic switch sensor, this sensor has been described in explanation.The relation curve of sensor output voltage (volt)-angle (degree) is represented with the thin curve 192 among the figure.
In Fig. 8 B, comprised the typical response of a commercial digital magnetic switch to the magnetic field that applies.This switch is digital 2-state electronic signal output with the analog signal conversion in magnetic field.Transverse axis is magnetic field (Gauss), and the longitudinal axis is switch sensor output voltage (volt).Relation curve between the output voltage of numeral magnetic switch and the magnetic field that applies is curve 193 in the drawings.Need to prove and have hysteresis on the curve.When the magnetic induction density that applies was negative value, output voltage was low value V
LAlong with the increase of magnetic induction density, become on the occasion of, and increase to working point, the magnetic field B that surpasses definition
OP, sensor output value can change high value V into from low value
HThen, along with magnetic induction density from big on the occasion of reducing gradually, output valve changes back to the magnetic field point B that resets again
RPThe time low value V
LTwo switching threshold B in magnetic field
OPAnd B
RPBe shown in the dotted line 194 and 195 among first figure.Therefore, the external magnetic field curve 191 when sensor passes dotted line B
OPAnd B
RPThe time, sensor output value is shown in the curve among the figure 193.
Using method of the present utility model has a variety of, comprises the distortion of the key concept that relates in the present embodiment.For example, can represent different digital codes with " 1 " and " 0 "; Can turn clockwise with counterclockwise replacement; Sensor can rotate around wheel, and disk is maintained fixed.Though all such devices do not carry out clear and definite detailed description at this, these install still within spirit of the present utility model and protection domain.
Compare with embodiment 7, embodiment 8 has following two differences: used 4 sensors rather than 5, and in the disk design of scrambler 3 structural changes have been arranged.These notions will be described in Fig. 9, Figure 10 and Figure 11.
What Fig. 9 A and Fig. 9 B showed is right view and the sectional view of disk 110 ', magnet 114 and sensor 116.6-116.9.This is in order to explain the design of magnetic field offset design and magnetic encoder, and with the position and the direction of the relevant magnetic field sensor of these designs.Obtain sectional view E from Fig. 9 A, shown in Fig. 9 B.The transverse axis that indicates R below is by resultant through the straight line of θ=0 among Fig. 9 A ° and θ=180 ° two positions.Z-axis Z-direction among Fig. 9 B is identical with turning axle 107 directions, all points to outside the plane of Fig. 9 A.
Several radius values have been marked among Fig. 9 A.The inside radius of disk 110 ' is 166R
DI, external radius is 167R
DOThe inside radius of ring-shaped magnet 114 is 164R
MI, external radius is 165R
MOStructural change 113.5,113.6 and 113.7 interior external radius are respectively 162R
VIAnd 163R
VOThe inside radius that is referred to as the broken circle of 190 tracks is R
Track161.Track 190 is the non-physical markings that show ring-shaped magnet 114 and disk 110 radial symmetry.R
Track161 just in time is 166R
DIAnd 167R
DOMean value, also be 162R
VIAnd 163R
VOMean value.Should be appreciated that does not generally need this symmetry, and the utility model is that example describes at this with this structure, to simplify description and the understanding near magnetic field those objects.
Fig. 9 B is the example of magnetic field biasing.Magnet 114 is permanent magnets, and the direction of its magnetization 184 is parallel to Z axle and turning axle 107, and this direction is represented with the filled arrows on the magnet 114.Magnetic conductivity disk 110 ' is the soft magnetic material disk, this means that it only has only significant internal magnetization intensity if add an external magnetic field.The internal magnetization intensity of the disk magnetization 182 ' expression disk 110 ', it is represented with the white hollow arrow.With reference to the figure of figure 9A, just can find out one sensor 116.6 is arranged and structural change 113.5 is arranged again in disk 110 ' in ° position, θ=0, and in ° position, θ=180, sensor 116.8 is arranged, but do not have structural change, these differences just can be found out in the figure bottom.
Large amplitude magnetic field can by near parallel-plate permanent magnet situation about producing under, the characteristic of the magnetizable soft magnet magnetic sheet that exists in this magnetic field is very common in document.The magnetization 182 ' of disk 110 ' is parallel to the magnetization 184 of magnet 114, and the magnetic field 181 ' in these two magnetization parallel-plates also is parallel to the magnetization 184.For comparing with the radius size of plate, two plates very close to situation, top saying just can be set up.At edge near magnet 114, magnetic field 181 ' and non-uniform Distribution, and be in magnet, to blaze abroad.At radius R
TrackThe place, the central magnetic field of magnet 114 is uniform magnetic fields.This phenomenon in magnetic field 181 ' is presented in Fig. 9 B right side.
In contrast, in Fig. 9 B left side, the magnetic field 181 between magnet 114 and the disk 110 ' is at radius R
TrackThe place is non-uniform magnetic field, and this is the reason that exists owing to structural change 113.5.Structural change 113.5 causes and can not one parallel-plate be arranged the image pattern right side like that.On the contrary, lines of magnetic induction tends to propagate (that is to say, along the material place propagated that maximum permeability is arranged) along low magnetic resistance direction.There is shown lines of magnetic induction 181 in the image pattern left side in this path.Illustrate that there is lines of magnetic induction in the place that does not have in the drawings obviously to show, lines of magnetic induction is to flow out from the top of disk 110 ', and from the bottom inflow of magnet 114, the abridged lines of magnetic induction has constituted the complete flux loop by permanent magnet 114 generations.
Sensor 116.6-116.9 be arranged so that they axial sensitivity can with the concrete angle of their positions with radially R is parallel.They do not have sensitivity in Z-direction and θ direction.Fig. 9 A has shown the angle of each sensor position and their sensitive direction.With [sensor: sensitivity angle (degree)]: [116.6,0], [116.7,72], [116.8,180], [116.9,288].The radius of their position is also than 161R
TrackBig a little.According to Fig. 9 B, just can see at R
TrackOuter magnetic field is ° more outwardly-bent than big left half of θ=0 of radius R, and half of θ=180 are ° not crooked on the right side.Magnetic field means that in radially positive dirction bending being parallel to radially positive dirction θ=0 ° has sub-fraction magnetic field.Radial component B at sensing station
RadialThe magnetic analog result be curve 191 ' depicted in figure 11.Sensor 116.6 and 116.8 is designed to component B
RadialSensitivity is arranged, but to component B
zNo.If Fig. 9 B were right side θ=180 ° of sensors of locating 116.8 would be greater than radius R
TrackThe place can not measure any magnetic field, and this is owing to ° locate B in θ=180
Radial=0.In a word, along with disk 110 ' rotates with respect to fixation of sensor 116.6-116.9, the magnetic field amplitude that sensor records is very little, but when a particular sensor is near structural change, the magnetic field amplitude value is greater than zero, and sensor is far away more from structural change, and amplitude approaches zero more.
Therefore, when disk rotated around sensor, Magnetic Sensor can survey on the soft magnetic conductivity disk whether structural change is arranged.This effect is used to design magnetic encoder.Each sensor by the predetermined angular position setting can both provide electric signal, and the pairing electric signal of disk is also inequality.Electronic circuit can be converted into digital signal with the simulating signal of Magnetic Sensor, and for example, 1 representative has structural change, and 0 representative does not have structural change.And if make for example structural change 113 of a series of structural changes, 5,113.6 and 113.7, so when encoder wheel 101 and disk 110 ' together rotate with respect to fixation of sensor, in 10 positions of encoder wheel 101, a series of signal that each position obtains from sensor 116.6-116.9 all is different.
Total figure of such encoding scheme, as shown in figure 10.Figure 10 A has shown 10 the different angles positions of disk 110 ' with respect to sensor 116.6-116.9.In the table of Figure 10 B, the numeral in " numeral " that hurdle demonstrates the runner sequence number of 10 positions." angle " that hurdle demonstrates from the numerical value of the anglec of rotation θ of θ=0 ° beginning." sensor number " that hurdle has shown the numbering for the fixing circuit board upper sensor of given angle position." sensor output value " that hurdle shows the signal value output of each sensor in 4 sensors.These 4 values are combined the code value " 1 " that formed each angle place and the combination of " 0 ".This 4 digit numerical code is each mark above the annulus among the accompanying drawing 10A.For example numerical digit 4(goes up row, right side) from θ=0 ° beginning along clockwise: sensor 116.6 and 116.7 does not have structural change, and sensor 116.8 and 116.9 has structural change.When rotation angle value is θ=144 °, this situation will occur, and the output code value is 0011.
Figure 11 illustrates the output of 4-switch sensor and the relation curve between the magnetic field.When the disk anglec of rotation from θ=0 ° to θ=360 a ° whole circle, ° sensor of locating 116.6 magnetic fields measured and that expection exists in θ=0 are shown in accompanying drawing 11A.The below of figure axis is the anglec of rotation of disk 110 ', and left side axle is the magnetic induction density component B that obtains from magnetic field model
RadialMagnetic field (Gauss)-angle (degree) relation curve is the heavy line that indicates diamond sign among the figure, i.e. curve 191 ', and right axis is the sensor output voltage of magnetic switch sensor, this sensor has been described in technology.The relation curve of sensor output voltage (volt)-angle (degree) is represented with the thin curve among the figure 192 '.
In Figure 11 B, comprised a commercial digital magnetic switch to the typical response between the magnetic field that applies.This switch is digital 2-state electronic signal output with the analog signal conversion in magnetic field.Transverse axis is magnetic field (Gauss), and the longitudinal axis is switch sensor output voltage (volt).Relation curve between the output voltage of numeral magnetic switch and the magnetic field that applies is curve 193 in the drawings.Need to prove and have hysteresis on the curve.When the magnetic induction density that applies was negative value, output voltage was low value V
LAlong with the increase of magnetic induction density, become on the occasion of, and increase to working point, the magnetic field B that surpasses definition
OP, sensor output value can change high value V into from low value
HThen, along with magnetic induction density from big on the occasion of reducing gradually, output valve changes back to the magnetic field point B that resets again
RPThe time low value V
LTwo switching threshold B in magnetic field
OPAnd B
RPBe shown in the dotted line 194 and 195 among first figure.Therefore, the external magnetic field curve 191 when sensor passes dotted line B
OPAnd B
RPThe time, sensor output value is shown in the curve among the figure 193.
In order to create the needed signal of magnetic encoder, the method for the magnetic flux in the crooked permanent magnet has multiple, as shown in figure 12.Identical in the expressed notion of the figure of that delegation of top and Fig. 9, all be to use fluted disk.What show at the figure of middle that delegation is another kind of possible method of adjustment, makes permanent magnetism disk its outer edges crooked and form trimmer exactly, when trimmer slowly near sensor, around sensor, just can produce crooked magnetic flux.What show at the figure of that delegation of bottom is again another method of adjustment, thereby exactly the permanent magnetism disk is carried out the zone that punching press forms projection, when the zone of projection slowly near sensor, around sensor, just can produce crooked magnetic flux.
Using method of the present utility model has a variety of, comprises the distortion of the key concept that relates in the present embodiment.For example, the quantity of sensor can be arbitrary number, is not only 4 and 5 sensor embodiment that mention in the utility model; The quantity of the structural change in the permanent magnetism disk also can be different with shape.Though the device of all these types does not carry out clear and definite detailed description in the utility model, these install still within spirit of the present utility model and protection domain.
The utility model is to having done explanation as far as possible with the simplest coordinate axis and how much symmetries, and this feasible explanation to magnetic field biasing and magnetic induction is more readily understood.But the symmetry that the utility model is narrated and the degree of orthogonality can not be limited within any the utility model institute applicable scope.Especially the magnetization 184 of the magnet 182 on the video disc 110, magnet 114, induction planes 124, encoder disk plane 125 and gap 126 such design elements do not need just parallel or perpendicular to the solid of appointment.In the sensor-based system of reality, calibration procedure and software are that many machineries and magnetic defective have been done finishing.Usually, comprising in the utility model that the saying as " almost parallel " or " approximate vertical " should be understandable, is in order to allow+/-30 alignment tolerances of spending with such narration.Briefly, just as the size in gap 126 can allow its distance to a declared goal+/-30% variation.
More than by preferred embodiment the utility model is had been described in detail, but the utility model is not limited thereto.Those skilled in the art of the present technique can carry out various modifications according to principle of the present utility model.Therefore, all modifications of being done according to the utility model principle all should be understood to fall into protection domain of the present utility model.
Claims (12)
1. an absolute type magnetic rotary encoder comprises
Turning axle,
A plurality of can be with the runner of described turning axle rotation,
With a plurality of one to one coding units of described a plurality of runners and
For described a plurality of coding units provide one or more permanent magnet assemblies of magnetic field biasing,
It is characterized in that,
Each coding unit comprises:
Magnetic conductivity encoder disk, the structure setting on it can make its magnetic permeability with respect to the difference of the position of described turning axle and different and
Comprise the sensor unit that is arranged on a plurality of Magnetic Sensors in the same induction planes, be used to respond to the magnetoconductivity of magnetic conductivity encoder disk, output characterizes the induced signal of described magnetic conductivity encoder disk relative position, and described induction planes is approximately perpendicular to described turning axle
For described magnetic conductivity encoder disk and described sensor unit, both central one together rotate with described runner, another maintenance is motionless,
According to the induced signal of described sensor unit, the output of each coding unit characterizes the numerical value of the position of rotation that the corresponding runner of institute selectes.
2. absolute type magnetic rotary encoder as claimed in claim 1, it is characterized in that, the magnetization direction of the magnetization direction of described one or more permanent magnet assemblies and described magnetic conductivity encoder disk respectively with the axial almost parallel of described turning axle, and the radially almost parallel of the inductive axis of each sensor and described turning axle.
3. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, each sensor unit comprises 4 or 5 magnetoresistive transducers, and each runner is selected 10 position of rotation.
4. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, this magnetic rotary encoder comprises a plurality of permanent magnet assemblies with the corresponding one by one setting of described a plurality of coding units.
5. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, this magnetic rotary encoder comprises and is respectively a plurality of permanent magnet assemblies that two coding units provide biasing.
6. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, each permanent magnet assembly comprises at least one annular permanent magnet or a plurality of permanent magnets that are circular layout.
7. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, each coding unit further comprises the flux closure device of being made by soft magnetic material.
8. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, the structure of described magnetic conductivity encoder disk comprises at least one groove that is formed in the described magnetic conductivity encoder disk.
9. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, the structure of described magnetic conductivity encoder disk comprises at least one projection and/or the trimmer that is formed on the described magnetic conductivity encoder disk.
10. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, the material of making of described permanent magnet assembly is to be selected from a kind of in barium ferrite, vectolite, neodymium iron boron, the ferrite.
11. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, the material of making of described magnetic conductivity encoder disk is to be selected from a kind of in ferronickel permeability alloys, soft iron, Alperm, mild steel, the soft magnetic ferrite.
12. absolute type magnetic rotary encoder as claimed in claim 1 is characterized in that, in each coding unit, the minor increment in gap is 0.1-4mm between magnetic conductivity encoder disk and the described magnetic sensor unit.
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| CN 201320059581 CN203083583U (en) | 2013-02-01 | 2013-02-01 | Absolute-type magnetic-rotation encoder |
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| CN 201320059581 CN203083583U (en) | 2013-02-01 | 2013-02-01 | Absolute-type magnetic-rotation encoder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103424162A (en) * | 2013-09-26 | 2013-12-04 | 江苏多维科技有限公司 | Multi-pulley type liquid level sensor device |
| CN103968860A (en) * | 2013-02-01 | 2014-08-06 | 江苏多维科技有限公司 | Absolute magnetic rotary encoder |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN106788378A (en) * | 2016-12-23 | 2017-05-31 | 宁波方太厨具有限公司 | A kind of inductive switch knob |
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2013
- 2013-02-01 CN CN 201320059581 patent/CN203083583U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103968860A (en) * | 2013-02-01 | 2014-08-06 | 江苏多维科技有限公司 | Absolute magnetic rotary encoder |
| WO2014117734A3 (en) * | 2013-02-01 | 2014-09-25 | 江苏多维科技有限公司 | Absolute magnetic rotating encoder |
| CN103968860B (en) * | 2013-02-01 | 2017-07-04 | 江苏多维科技有限公司 | Absolute type magnetic rotary encoder |
| US10197419B2 (en) | 2013-02-01 | 2019-02-05 | MultiDimension Technology Co., Ltd. | Magnetic absolute rotary encoder |
| CN103424162A (en) * | 2013-09-26 | 2013-12-04 | 江苏多维科技有限公司 | Multi-pulley type liquid level sensor device |
| WO2015043506A1 (en) * | 2013-09-26 | 2015-04-02 | 江苏多维科技有限公司 | Multiturn pulley liquid level sensor device |
| US9952085B2 (en) | 2013-09-26 | 2018-04-24 | MultiDimension Technology Co., Ltd. | Multiturn pulley liquid level sensor device |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN104875813B (en) * | 2015-05-26 | 2018-04-06 | 上海大学 | A kind of electric drive small-sized bionic quadruped robot |
| CN106788378A (en) * | 2016-12-23 | 2017-05-31 | 宁波方太厨具有限公司 | A kind of inductive switch knob |
| CN106788378B (en) * | 2016-12-23 | 2023-11-17 | 宁波方太厨具有限公司 | Induction type switch knob |
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