CN205102848U - Compound encoder - Google Patents
Compound encoder Download PDFInfo
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- CN205102848U CN205102848U CN201520816272.9U CN201520816272U CN205102848U CN 205102848 U CN205102848 U CN 205102848U CN 201520816272 U CN201520816272 U CN 201520816272U CN 205102848 U CN205102848 U CN 205102848U
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Abstract
The utility model discloses a compound encoder, including optical -mechanical system and circuit system, optical -mechanical system and circuit system are connected, its characterized in that: the optical -mechanical system includes code wheel, shafting, slit, light emitting component and photoelectricity receiving element, circuit system includes that amplifier circuit, shaping circuit, MCU processing system and DSP interface circuit constitute, be equipped with the DSP chip among the DSP interface circuit, the further improvement, the code wheel includes base plate, one -level code wheel, second grade code wheel, the utility model discloses utilize two -stage code wheel integrated configuration to realize many circles codes, the change that utilizes the gear ratio realizes the measurement of different rotating ratios, the design that utilizes DSP serial interface simultaneously improves the interface function of encoder, and this encoder simple structure is easy to assemble, can solve the corresponding different rotating ratio of measuring, can also realize encoder and motor servo's serial communication well.
Description
Technical field
The utility model relates to a kind of scrambler, particularly relates to a kind of compound scrambler.
Background technology
Optical shaft angle encoder is a kind of sensor adopting photoelectric method axle and mechanical corner to be converted to digital electric signal output; Utilize it can realize the measurement of other analog physical amounts such as angle, straight-line displacement, rotating speed, relative to the sensor of other form, optical shaft angle encoder have that precision is high, little, the mechanical of consuming energy wearing and tearing, the advantage such as reliable and stable;
At present, the angular transducer generally used both at home and abroad has scrambler and inductosyn two kinds, but the angle measurement accuracy of inductosyn is low, so in the higher design of angle measurement accuracy, generally all select scrambler as angular transducer; In the encoder, there are absolute type encoder and incremental encoder two kinds, described incremental encoder is exactly using grating disc as angle-differentiated benchmark, and the angle displayed value of a certain position of scrambler is not fixed, and when restarting after power down, the original angle value of scrambler can be lost; And absolute type encoder is angle reference based on absolute encoder, there is fixing angle value this code-disc optional position, namely the output angle of this scrambler is the single-valued function of input angle, and this scrambler restarts the feature that scrambler original information is not lost after having power down; And at a lot of large-scale instrument corner, rotating speed and directly cannot install scrambler by the restriction such as locus and carry out; Simultaneously also cannot the different rotating ratio of corresponding measurement;
In motor servo system, usually the feedback signal of positional information as closed-loop control of detection rotor is needed, for high accuracy servo system, the accuracy of detection of position feedback element directly affects the performance of servo-drive system, conventional position detecting device has photoelectric encoder and rotary transformer etc., it is simple that rotary transformer has structure, cost is low, reliability and the high advantage of degree of protection, the complexity but it is decoded, special decoding chip is expensive and limit its development to shortcomings such as electromagnetic interference (EMI) sensitivities, now replaced by photoelectric encoder gradually, incremental encoder precision comparison is low, its A exported, B orthogonal signal are subject to electromagnetic interference (EMI) and mechanical shaking causes miscount, position is caused to be located wrong, and it is without power-failure memory function, absolute optical encoder has that precision is high, reliability is high, antijamming capability is strong, have the features such as power-failure memory function, therefore, absolute optical encoder is widely used in the occasion higher to accuracy requirement such as radar, robot, precision machine tool and high accuracy servo system,
Definitely that the signal output form of scrambler has serial and parallel two kinds, the performance advantage that wherein Serial output is few with SII interface (synchronous serial interface) data bus connection, fiduciary level is high and obtain more application, but owing to adopting serial output mode can cause larger transmission delay, this just has higher requirement to the speed of serial communication and reliability; The application of absolute type encoder needs special process chip, and the price of chip is very expensive, and someone adopts the hardware implementing such as CPLD, FPGA to the process of encoder serial data, and this adds the complexity of system undoubtedly;
Utility model content
The utility model, in order to make up the deficiencies in the prior art, meets the needs of prior art, provides a kind of compound scrambler, this coder structure is simple, convenient installation, can solve the rotating ratio that corresponding measurement is different, can also realize the serial communication of scrambler and motor servo system well;
For achieving the above object, the technical scheme that the utility model is taked is:
A kind of compound coding, comprises Opto-Mechanical System and Circuits System; Described Opto-Mechanical System is connected with Circuits System; It is characterized in that: described Opto-Mechanical System comprises code-disc, axle system, slit, light-emitting component and photoelectric apparatus; Described code-disc is arranged on the spindle nose of axle system, and is connected with main shaft; Described slit and described light-emitting component are separately positioned on the both sides of code-disc, and wherein said slit is arranged on the right side of code-disc, and described light-emitting component arranges the left side of code-disc; Described photoelectric apparatus is arranged on the right side of slit;
Described Circuits System comprises amplifying circuit, shaping circuit, scm managing system and dsp interface circuit composition; Dsp chip is provided with in described dsp interface circuit;
Further improvement, described code-disc comprises substrate, one-level code-disc, secondary code-disc; Described substrate is provided with two coupling shafts, is respectively the first coupling shaft, the second coupling shaft; Described one-level code-disc is arranged on the first coupling shaft, and described secondary code-disc arranges on the second coupling shaft; Described one-level code-disc is connected with secondary code-disc gear;
Further improvement, described one-level code-disc is glass disk, and its diameter is 50mm;
Further improvement, described code-disc is provided with code channel, and described code channel is matrix code channel;
Further improvement, described code channel comprises six circle scale marks, is respectively first lap scale mark, the second circle scale mark, the 3rd circle scale mark, the 4th circle scale mark, the 5th circle scale mark, the 6th circle scale mark; Described first lap scale mark is provided with A code; Described second circle scale mark is provided with B1, B2 code; Described 3rd circle scale mark is provided with C1, C2, C3, C4 code; Described 4th circle scale mark is provided with D code; Described 5th circle scale mark is provided with G1 code; Described 6th circle scale mark is provided with G2 code;
Further improvement, described slit is provided with four scales, is respectively " 0 ° " scale, " 90 ° " scale, " 180 ° " scale, " 270 ° " scale; Described " 0 ° " scale place is provided with three single slits, is respectively A1, B1, C1; Described " 90 ° " scale place is provided with two single slits, is respectively A2, C1; Described " 180 ° " scale place is provided with two single slits, is respectively B2, C3; Described " 270 ° " scale place is provided with two single slits, is respectively D, C4; Distance between described every two adjacent single slits is 70mm;
Further improvement, the model of dsp chip is TMS320F2812;
Compared with prior art, adopt such scheme, the beneficial effects of the utility model are: the utility model utilizes two-stage code-disc unitized construction to realize multi-turn coding, utilizes the change of gear ratio to realize the measurement of different rotating speeds ratio; Utilize the design of DSP serial interface to improve the interface function of scrambler, this coder structure is simple simultaneously, and convenient installation, can solve the rotating ratio that corresponding measurement is different, can also realize the serial communication of scrambler and motor servo system well;
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is circuit system structure schematic diagram of the present utility model;
Fig. 3 is code-disc syndeton schematic diagram of the present utility model;
Fig. 4 is code channel stretch-out view in the utility model;
Fig. 5 is dsp interface electrical block diagram in the utility model;
Embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Figure 1 and Figure 2, a kind of compound coding, comprises Opto-Mechanical System and Circuits System 6; Described Opto-Mechanical System is connected with Circuits System 6; Described Opto-Mechanical System comprises code-disc 3, axle system, slit 4, light-emitting component 2 and photoelectric apparatus 5; Described Circuits System 6 comprises amplifying circuit, shaping circuit, scm managing system and dsp interface circuit composition; Described code-disc 3 is arranged on the end of the main shaft 1 of axle system, and is connected with main shaft 1; Described slit 4 and described light-emitting component 2 are separately positioned on the both sides of code-disc 3, and wherein said slit 4 is arranged on the right side of code-disc 3, and described light-emitting component 2 arranges the left side of code-disc 3; Described photoelectric apparatus 5 is arranged on the right side of slit 4;
Be provided with dsp chip in described dsp interface circuit, preferably, the model of dsp chip is TMS320F2812; Its particular circuit configurations as shown in Figure 4;
As shown in Figure 3, described code-disc 3 comprises substrate 17, one-level code-disc 24, secondary code-disc 21; Described substrate 17 is provided with two coupling shafts, is respectively the first coupling shaft 23, second coupling shaft 22; Described one-level code-disc 24 is arranged on the first coupling shaft 23, and described secondary code-disc 21 arranges on the second coupling shaft 22; Described one-level code-disc 24 is connected with secondary code-disc 21 gear;
Preferably, described one-level code-disc 24 is glass disk, and its diameter is 50mm;
As shown in Figure 3, described axle system comprises main shaft 1, gear I10, gear II19, gear III18, gear IV16, gear V15, gear VI14, gear VII13, gear VIII12; Described gear I10 is arranged on main shaft 1 end, is connected with gear II19; Gear VIII12 is arranged on the upper of main shaft 1, is connected with gear VII13; Gear III18, gear VI14 and gear VII13 are installed on the first coupling shaft 23, and gear III18 is connected with gear II19, gear IV16 respectively; Gear IV16, gear V15 are installed on the second coupling shaft 22; Gear V15 is connected with gear VI14;
This structure is by gear set, allows one-level code-disc 24 drive secondary code-disc 21, completes the number of turns measured and export; The structure of gear designs according to the coefficient of I=16:1;
The concrete parameter of each gear is as shown in the table:
Each gear design parameter is as shown in the table:
As seen from Figure 3, gear I10 and gear II19 engagement rotation; Gear II19 and gear III18 wringing fit; Gear III18 and gear IV16 engagement rotation; Gear IV16 and gear V15 wringing fit; Gear V15 and gear VI14 engagement rotation; Gear VI14 and gear VII13 wringing fit; Gear VII13 and gear VIII12 engagement rotation;
Overall ratio is
bring numerical value in table into above formula, then I=16:1;
I.e. one-level code-disc 24 turn of 16 circle, secondary code-disc 21 turn of 1 circle, thus achieves multi-turn and measures;
Described code-disc is provided with code channel, and described code channel is matrix code channel; In the utility model, code channel is set to matrix code channel, the physical dimension of scrambler can be reduced, so-called matrix code channel, be exactly by traditional code channel one circle, be set to a circle multidigit, the radial dimension of code-disc can be reduced like this, thus the physical dimension of scrambler complete machine is reduced, lightweight, shock resistance, the vibration ability of scrambler strengthen;
Code-disc coding is carved with binary periodic code pattern, when this cycle code changes to consecutive number by any number, only has one digit number to change in code, even if it is also not too large to produce error code; This binary periodic code pattern is made up of many annular code channels, is made up of in code channel the printing opacity of some and lighttight region;
The printing opacity that code channel is mutual and light tight line are by certain relationship, the radial position of code channel is formed printing opacity and lighttight " combination ", wherein printing opacity is " 1 ", lighttight is " 0 ", and the combination of these " 1 " and " 0 " is exactly code, also just says, these yards represent a certain absolute position of code-disc, during general code-disc delineation, all represent with the form of plane outspread drawing the requirement of each code channel, this scrambler code channel stretch-out view as shown in Figure 4;
As shown in Figure 4, described code channel comprises six circle scale marks, is respectively first lap scale mark, the second circle scale mark, the 3rd circle scale mark, the 4th circle scale mark, the 5th circle scale mark, the 6th circle scale mark; Described first lap scale mark is provided with A code; Described second circle scale mark is provided with B1, B2 code; Described 3rd circle scale mark is provided with C1, C2, C3, C4 code; Described 4th circle scale mark is provided with D code; Described 5th circle scale mark is provided with G1 code; Described 6th circle scale mark is provided with G2 code;
As seen from Figure 4, first lap scale mark is provided with A code, obtains A1, A2 two kinds of code channels by slit; Second circle scale mark is provided with B1, B2 code, obtains B1, B2 two kinds of code channels by slit; 3rd circle scale mark is provided with C1, C2, C3, C4 code, obtains C1, C2, C3, C4 tetra-kinds of code channels by slit; 4th circle scale mark is provided with D code, obtains D code channel by slit; 5th circle scale mark is provided with G1 code, obtains G1 code channel by slit; 6th circle scale mark is provided with G2 code, obtains G2 code channel by slit; To obtain through being marred by a scar, etc. G0, G90, G180, G270 tetra-tunnel differ the triangular signal of 90 °, the photosignal curve exported is sinusoidal wave, specifically G0 is Sin θ, G90 is Cos θ, G180 is-Sin θ, G270 is-Cos θ, the feeble signal of G0 and G180 exports the new signal Sin θ in a road through differential amplification, and the feeble signal of same G90, G270 exports the new signal-Cos θ in a road through differential amplification, and just profound signal Sin θ is through becoming-Sin θ to phase device;
In the diagram, A, B, C are thick code channel, and G1, G2 are smart code channel, and D is for correcting code channel; Exportable 13 of one-level code-disc 24, exportable 3 of secondary code-disc;
Described slit is provided with four scales, is respectively " 0 ° " scale, " 90 ° " scale, " 180 ° " scale, " 270 ° " scale; Described " 0 ° " scale place is provided with three single slits, is respectively A1, B1, C1, marks the many slits of two circles outside slit, and the many slits of this two circle are for obtaining smart coded signal; Described " 90 ° " scale place is provided with two single slits, is respectively A2, C1; Described " 180 ° " scale place is provided with two single slits, is respectively B2, C3, marks the many slits of two circles outside slit, and the many slits of this two circle are for obtaining smart coded signal; Described " 270 ° " scale place is provided with two single slits, is respectively D, C4; Distance between described every two adjacent single slits is 70mm; Traditional A1 code is obtained at A1 place, traditional A2 code is obtained at A2 place, the mutual relationship of A1 and A2 is delineated by slit and is ensured, equally, obtain traditional B1 code at B1 place, obtain traditional B2 code at B2 place, traditional C1, C2, C3, C4 code is obtained at C1, C2, C3, C4 place, obtain traditional D code at D place, by circuit decode, obtain traditional code channel information;
As shown in Figure 5, described Circuits System 6 comprises amplifying circuit, shaping circuit, scm managing system and dsp interface circuit composition;
Amplifying circuit is differential amplifier circuit, does not carefully state in particular circuit configurations the application; Essence code adopts Differential Input amplifying circuit; Essence coded signal song code-disc 10 bit code road, each two-way phase differential 90 degree of signals of diameter, Differential Input amplification is carried out with two paths of signals reverse each other, to eliminate even-order harmonic and common mode amount, improve dextrorotation and the orthogonality of waveform, eliminate part eccentric error, inhibit because temperature variation makes photosignal produce common mode component simultaneously, be conducive to improving subdivision accuracy;
Shaping circuit comprises amplitude discrimination circuit, analog to digital conversion circuit, sub-circuit, correcting circuit;
Amplitude discrimination circuit is by thick code (A1-A9) signal, through comparer LM139, compares with comparative level B, obtains " 1 ", the consistent digital signal of level "0" bright with code channel, the dark change of change;
Sub-circuit, the smart coded signal that diameter reads obtains following four road signals through amplifying:
U
1＝Ui·SinαU
2＝-Ui·Sinα
U
1＝Ui·CosαU
2＝-Ui·Cosα
This four roads signal completes segmentation through analog to digital conversion by scm managing system; Interpolated coefficients is 32, and scm managing system, according to orthogonal moire frange signal amplitude and phase place determination the relation of subdivision, by carrying out displacement calculating to the judgement of changes in amplitude, obtains 16 azimuthal resolution;
Correction refers to that some end faces of thick code channel deviate from theoretical position, thus makes that precision reduces, even error code, at this moment can find it with the smart code that one group of precision is higher to the standard of doing, and revise the deviation of this end face; According to odd and even correction principle, correcting logic expression formula is as follows:
Wherein, B0 is smart code; B1 is Corrective control code; Xm is for being corrected code; F is correcting code;
Scm managing system is the core component of encoder circuit system, this system selects 51 series monolithic 89C51 to be main frame, scm managing system comprises single-chip microcomputer, A/D analog to digital conversion, logical circuit, watchdog circuit, input/output interface circuit, and the segmentation of data acquisition, smart code, thick code decoding, essence-thick correction and total code export;
The circuit structure diagram of dsp interface circuit as shown in Figure 5, is not counted accurately at this;
When the shaft rotates, drive one-level code-disc synchronous axial system, in the side of code-disc, light source is housed, opposite side is equipped with slit and photoelectric apparatus, and when code-disc and slit generation relative motion, the light that light source sends is cut is modulated into regular interrupted light, electric signal is converted to through photoelectric apparatus, after pull-up resistor, send into Circuits System in the form of a voltage carry out the process such as circuit amplification, shaping, decoding, export, for user's acquisition applications with binary code level;
The utility model utilizes two-stage code-disc unitized construction to realize multi-turn coding, utilizes the change of gear ratio to realize the measurement of different rotating speeds ratio; Utilize the design of DSP serial interface to improve the interface function of scrambler, this coder structure is simple simultaneously, and convenient installation, can solve the rotating ratio that corresponding measurement is different, can also realize the serial communication of scrambler and motor servo system well;
The utility model is not limited to above-mentioned concrete embodiment, and those of ordinary skill in the art is from above-mentioned design, and without performing creative labour, done all conversion, all drop within protection domain of the present utility model.
Claims (7)
1. a compound scrambler, comprises Opto-Mechanical System and Circuits System; Described Opto-Mechanical System is connected with Circuits System; It is characterized in that: described Opto-Mechanical System comprises code-disc, axle system, slit, light-emitting component and photoelectric apparatus; Described code-disc is arranged on the spindle nose of axle system, and is connected with main shaft; Described slit and described light-emitting component are separately positioned on the both sides of code-disc, and wherein said slit is arranged on the right side of code-disc, and described light-emitting component arranges the left side of code-disc; Described photoelectric apparatus is arranged on the right side of slit;
Described Circuits System comprises amplifying circuit, shaping circuit, scm managing system and dsp interface circuit composition; Dsp chip is provided with in described dsp interface circuit.
2. compound scrambler according to claim 1, is characterized in that: described code-disc comprises substrate, one-level code-disc, secondary code-disc; Described substrate is provided with two coupling shafts, is respectively the first coupling shaft, the second coupling shaft; Described one-level code-disc is arranged on the first coupling shaft, and described secondary code-disc arranges on the second coupling shaft; Described one-level code-disc is connected with secondary code-disc gear.
3. compound scrambler according to claim 2, is characterized in that: described one-level code-disc is glass disk, and its diameter is 50mm.
4. compound scrambler according to claim 1, is characterized in that: described code-disc is provided with code channel, described code channel is matrix code channel.
5. compound scrambler according to claim 4, is characterized in that: described code channel comprises six circle scale marks, is respectively first lap scale mark, the second circle scale mark, the 3rd circle scale mark, the 4th circle scale mark, the 5th circle scale mark, the 6th circle scale mark; Described first lap scale mark is provided with A code; Described second circle scale mark is provided with B1, B2 code; Described 3rd circle scale mark is provided with C1, C2, C3, C4 code; Described 4th circle scale mark is provided with D code; Described 5th circle scale mark is provided with G1 code; Described 6th circle scale mark is provided with G2 code.
6. compound scrambler according to claim 1, is characterized in that: described slit is provided with four scales, is respectively " 0 ° " scale, " 90 ° " scale, " 180 ° " scale, " 270 ° " scale; Described " 0 ° " scale place is provided with three single slits, is respectively A1, B1, C1; Described " 90 ° " scale place is provided with two single slits, is respectively A2, C1; Described " 180 ° " scale place is provided with two single slits, is respectively B2, C3; Described " 270 ° " scale place is provided with two single slits, is respectively D, C4; Distance between described every two adjacent single slits is 70mm.
7. compound scrambler according to claim 1, is characterized in that: the model of dsp chip is TMS320F2812.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520816272.9U CN205102848U (en) | 2015-10-20 | 2015-10-20 | Compound encoder |
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| CN201520816272.9U CN205102848U (en) | 2015-10-20 | 2015-10-20 | Compound encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106482669A (en) * | 2016-11-29 | 2017-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of angle displacement measurement system of employing twin-line array image detector |
| CN113383209A (en) * | 2018-12-06 | 2021-09-10 | 谐波传动系统有限公司 | Double absolute type encoder |
-
2015
- 2015-10-20 CN CN201520816272.9U patent/CN205102848U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106482669A (en) * | 2016-11-29 | 2017-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of angle displacement measurement system of employing twin-line array image detector |
| CN106482669B (en) * | 2016-11-29 | 2018-10-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of angle displacement measurement system using twin-line array image detector |
| CN113383209A (en) * | 2018-12-06 | 2021-09-10 | 谐波传动系统有限公司 | Double absolute type encoder |
| CN113383209B (en) * | 2018-12-06 | 2024-03-29 | 谐波传动系统有限公司 | Double absolute encoder |
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Granted publication date: 20160323 Termination date: 20181020 |
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