CN204718621U - A kind ofly apply the device that incremental encoder carries out absolute position detection - Google Patents
A kind ofly apply the device that incremental encoder carries out absolute position detection Download PDFInfo
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- CN204718621U CN204718621U CN201520411599.8U CN201520411599U CN204718621U CN 204718621 U CN204718621 U CN 204718621U CN 201520411599 U CN201520411599 U CN 201520411599U CN 204718621 U CN204718621 U CN 204718621U
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Abstract
The utility model discloses and a kind ofly apply the device that incremental encoder carries out absolute position detection, comprise motor, described motor two ends are electrically connected with the speed reduction unit and power-off maintenance detent that match, described speed reduction unit is connected with topworks, described power-off keeps detent to be connected with increment type traying, described increment type traying is connected with controller by change-over circuit, and described controller is connected with energy-storage travelling wave tube, and described energy-storage travelling wave tube is connected with Systematical control power supply; Described power-off keeps the detent other end to be also connected with power power-supply by driving circuit, is also provided with storer in wherein said controller.The beneficial effects of the utility model: price is lower, therefore can reduce the Material Cost in single joint; Reduce the complexity of joint Machine Design; Do not lose after system cut-off, do not need the reset carrying out physical construction when powering at every turn again, can restart from current location, therefore shorten the initialization time of system.
Description
Technical field
The utility model relates to the Accurate Position Control field that direct current generator rotates, and specifically, relates to and a kind ofly applies the device that incremental encoder carries out absolute position detection.
Background technology
Photoelectric coded disk can be divided into absolute position encoder and relative position scrambler according to way of output difference.Wherein, absolute position encoder exports corresponding coded data unique with electric machine rotation position, but its inner structure is complicated: adopt the absolute position encoder of parallel output to need a large amount of data lines, take volume large; Adopt the absolute position encoder of Serial output that corresponding communication protocol must be had to export the form of data with specification, code-disc internal circuit is complicated.Above-mentioned factor causes absolute position encoder cost higher than the cost of relative position scrambler.And relative position scrambler is also referred to as incremental encoder, only export and the corresponding number of pulses of electric machine rotation, inner structure is simple, and small volume is with low cost.But incremental encoder cannot remember absolute position, also need to carry out Zero positioning by the zero position switch of outside or limit switch, all need first to carry out rezero operation when each initialization of mechanical system.
The crucial rotary part of the robot product controlled needing high precision, as the cradle head etc. of micromanipulator, due to zero position switch or limit switch cannot be assembled by structural limitations, if adopt incremental encoder, cannot realize determining joint zero-bit, as adopted absolute position encoder, then cost is higher and export complicated.
So, develop one and can reduce Material Cost and design complexities, shorten the pick-up unit of initialization time simultaneously, just become the problem that insider needs solution badly.
Utility model content
For the above-mentioned technical matters in correlation technique, the utility model proposes and a kind ofly apply the device that incremental encoder carries out absolute position detection, Material Cost and design complexities can be reduced, also shorten initialization time simultaneously.
For realizing above-mentioned technical purpose, the technical solution of the utility model is achieved in that
A kind ofly apply the device that incremental encoder carries out absolute position detection, comprise motor, described motor two ends are electrically connected with the speed reduction unit and power-off maintenance detent that match, described speed reduction unit is connected with topworks, described power-off keeps detent to be connected with increment type traying, described increment type traying is connected with controller by change-over circuit, and described controller is connected with energy-storage travelling wave tube, and described energy-storage travelling wave tube is connected with Systematical control power supply; Described power-off keeps the detent other end to be also connected with power power-supply by driving circuit, is also provided with storer in wherein said controller.
Further, described Systematical control power supply is all connected with described controller by voltage comparator with described energy-storage travelling wave tube.
Further, described motor is direct current generator, and described storer is flash memories.
The beneficial effects of the utility model: because increment type code-wheel realizes simple than absolute position encoder dish, price is lower, therefore can reduce the Material Cost in single joint; The zero-bit record of motor in the controller, corresponding zero position switch or limit switch can be assembled in joint, reduces the complexity of joint Machine Design; In storer due to the preservable controller in absolute position that motor is current, do not lose after system cut-off, do not need the reset carrying out physical construction when powering at every turn again, can restart from current location, therefore shorten the initialization time of system.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the apparatus structure schematic diagram that application incremental encoder according to the utility model embodiment carries out absolute position detection;
Fig. 2 is that the application incremental encoder according to the utility model embodiment carries out the voltage relationship change of the device of absolute position detection and the comparison diagram of voltage comparator output voltage variation diagram.
In figure:
1, motor; 2, speed reduction unit; 3, power-off keeps detent; 4, topworks; 5, increment type traying; 6, change-over circuit; 7, controller; 8, energy-storage travelling wave tube; 9, Systematical control power supply; 10, driving circuit; 11, power power-supply; 12, storer; 13, voltage comparator.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of the utility model protection.
As shown in Figure 1-2, a kind of according to the utility model embodiment applies the device that incremental encoder carries out absolute position detection, comprise motor 1, described motor 1 two ends are electrically connected with the speed reduction unit 2 and power-off maintenance detent 3 that match, described speed reduction unit 2 is connected with topworks 4, described power-off keeps detent 2 to be connected with increment type traying 5, described increment type traying 5 is connected with controller 7 by change-over circuit 6, described controller 7 is connected with energy-storage travelling wave tube 8, and described energy-storage travelling wave tube 8 is connected with Systematical control power supply 9; Described power-off keeps detent 2 other end to be also connected with power power-supply 11 by driving circuit 10, is also provided with storer 12 in wherein said controller 7.
In one embodiment, described Systematical control power supply 9 is all connected with described controller 7 by voltage comparator 13 with described energy-storage travelling wave tube 8.
In one embodiment, described motor 1 is direct current generator, and described storer 12 is flash memories.
Conveniently understand technique scheme of the present utility model, below by way of in concrete use-pattern, technique scheme of the present utility model is described in detail.
When specifically using, a kind ofly the device that incremental encoder carries out absolute position detection is applied according to described in the utility model, according to the actual requirement of physical construction, determine the absolute origin position in joint, when not powering on, joint remains on absolute origin position transfixion, and now motor keeps static under the effect of detent.
System electrification (comprising control system power supply and power power-supply), the motor position Counter Value that controller is preserved obtain power-off last time from storer before, calculates position during motor power-off last time; If system first time powers on, then the Counter Value in storer is 0, and motor is in absolute origin position;
For realizing certain action in this joint, under the driving of controller, power-off keeps releasing of brake machine shaft, motor runs to new position from position during system electrification, this rotation process is converted to continuous print pulse number by incremental encoder, superpose (Direction of superposition is determined by direction of motor rotation) with the motor position Counter Value of original inside, and upgrade the value of motor position counter.The value of new motor position counter represents the up-to-date turned position of drive motor.
When system cut-off, the pulse signal of the external interrupt voltage comparator of controller and the detection of controller link upwards saltus step, triggered interrupts program, is saved in storer by up-to-date motor position Counter Value; Power-off keeps detent by motor locking after system cut-off, and position when motor remains on system cut-off is motionless.
Wherein, according to Fig. 2:
T0 to t1: control system power supply exports normal, and the magnitude of voltage that E, F are 2 is identical, and the output voltage of voltage comparator is low level;
T1 to t2: in the t1 moment, control system power cut-off, the magnitude of voltage of F point declines rapidly, and the magnitude of voltage of the output E point of energy-storage travelling wave tube then can keep original magnitude of voltage constant; In the t2 moment, the magnitude of voltage of F point drops to less than 90% of primary voltage value, and now voltage comparator detects that the magnitude of voltage of E point is greater than the magnitude of voltage of F point, and voltage comparator exports high level, and trigger controller MCU execution parameter preserves action;
T2 to t3: within the time of this shorter, along with the release of the electric energy of energy-storage travelling wave tube, the magnitude of voltage of E point slowly declines, in the t3 moment, the magnitude of voltage of E point drops to less than 90% of primary voltage value, and now voltage comparator thinks that E point is identical with the voltage of F point, voltage comparator output low level; Time span between t2 to t3 is determined by charge value that energy-storage travelling wave tube is deposited;
After t3: the electric energy of energy-storage travelling wave tube thoroughly discharges complete, control system power-off, the detent action locking motor of motor, motor keeps stop state.
In sum, by means of technique scheme of the present utility model, because increment type code-wheel realizes simple than absolute position encoder dish, price is lower, therefore can reduce the Material Cost in single joint; The zero-bit record of motor in the controller, corresponding zero position switch or limit switch can be assembled in joint, reduces the complexity of joint Machine Design; In storer due to the preservable controller in absolute position that motor is current, do not lose after system cut-off, do not need the reset carrying out physical construction when powering at every turn again, can restart from current location, therefore shorten the initialization time of system.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (3)
1. apply the device that incremental encoder carries out absolute position detection for one kind, it is characterized in that, comprise motor (1), described motor (1) two ends are electrically connected with the speed reduction unit (2) and power-off maintenance detent (3) that match, described speed reduction unit (2) is connected with topworks (4), described power-off keeps detent (2) to be connected with increment type traying (5), described increment type traying (5) is connected with controller (7) by change-over circuit (6), described controller (7) is connected with energy-storage travelling wave tube (8), described energy-storage travelling wave tube (8) is connected with Systematical control power supply (9), described power-off keeps detent (2) other end to be also connected with power power-supply (11) by driving circuit (10), is also provided with storer (12) in wherein said controller (7).
2. application incremental encoder according to claim 1 carries out the device of absolute position detection, it is characterized in that, described Systematical control power supply (9) is all connected with described controller (7) by voltage comparator (13) with described energy-storage travelling wave tube (8).
3. application incremental encoder according to claim 1 carries out the device of absolute position detection, it is characterized in that, described motor (1) is direct current generator, and described storer (12) is flash memories.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520411599.8U CN204718621U (en) | 2015-06-15 | 2015-06-15 | A kind ofly apply the device that incremental encoder carries out absolute position detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520411599.8U CN204718621U (en) | 2015-06-15 | 2015-06-15 | A kind ofly apply the device that incremental encoder carries out absolute position detection |
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| Publication Number | Publication Date |
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| CN204718621U true CN204718621U (en) | 2015-10-21 |
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| CN201520411599.8U Withdrawn - After Issue CN204718621U (en) | 2015-06-15 | 2015-06-15 | A kind ofly apply the device that incremental encoder carries out absolute position detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931079A (en) * | 2015-06-15 | 2015-09-23 | 长源动力（北京）科技有限公司 | Device using incremental encoder to carry out absolute position detection and method thereof |
| CN108481365A (en) * | 2018-04-04 | 2018-09-04 | 北京钢铁侠科技有限公司 | For the absolute zero position detection device and detection method of robot, robot |
-
2015
- 2015-06-15 CN CN201520411599.8U patent/CN204718621U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931079A (en) * | 2015-06-15 | 2015-09-23 | 长源动力（北京）科技有限公司 | Device using incremental encoder to carry out absolute position detection and method thereof |
| CN104931079B (en) * | 2015-06-15 | 2018-09-21 | 长源动力（北京）科技有限公司 | A kind of devices and methods therefor carrying out absolute position detection using incremental encoder |
| CN108481365A (en) * | 2018-04-04 | 2018-09-04 | 北京钢铁侠科技有限公司 | For the absolute zero position detection device and detection method of robot, robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151021 Effective date of abandoning: 20180921 |
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| AV01 | Patent right actively abandoned |