CN206132084U - Sensor of precision measurement rotational speed and rotatory absolute angle position - Google Patents

Sensor of precision measurement rotational speed and rotatory absolute angle position Download PDF

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Publication number
CN206132084U
CN206132084U CN201620793336.2U CN201620793336U CN206132084U CN 206132084 U CN206132084 U CN 206132084U CN 201620793336 U CN201620793336 U CN 201620793336U CN 206132084 U CN206132084 U CN 206132084U
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magnetic
sensor
encoder
assembly
circuit board
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姜泽明
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Shanghai Jun Sensor Technology Co Ltd
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Shanghai Jun Sensor Technology Co Ltd
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Abstract

The utility model discloses a sensor of precision measurement rotational speed and rotatory absolute angle position, it mainly includes: magnetic field in magnetic encoder and the sensor body assembly, magnetic encoder one -period is the sine distribution, and the collection of sensor body assembly comes from the variable magnetic field that rotatory magnetic encoder produced to correspond output sinusoidal analog signal and cosine analog signal of the same kind all the way. The utility model provides an absolute formula magnetism of non -contact code sensor, speed and absolute position that can the rotatory object of precision measurement can detect direction of rotation simultaneously. Simultaneously, the measurement accuracy of this magnetism code sensor is high, response time is fast, and simple process, and is longe -lived, can work at high temperature, under the environment of greasy dirt.

Description

A kind of sensor of accurate measurement rotating speed and rotation absolute angular position
Technical field
This utility model is related to a kind of e measurement technology, and in particular to magnetic code sensor.
Background technology
According to Cleaning Principle, the encoder of measurement rotating object conventional at present can be divided into optical profile type, magnetic-type, vicariouss and Condenser type.
Photoelectric encoder is a kind of the geometry of machinery displacement on output shaft to be converted into into pulse or number by opto-electronic conversion The sensor of word amount.Be carved with printing opacity and lighttight lines regularly on disk, in disk both sides, lay light-emitting component and Light-sensitive element.When the disk rotates, the luminous flux that light-sensitive element is received synchronously changes with printing opacity lines, light-sensitive element output waveform It is changed into pulse after shaping, the facies marker having on code-disc, every revolution exports a pulse.Additionally, to judge direction of rotation, Code-disc may also provide the two pulse signals of 90 ° of phase.
Magnetic encoder is also frequently referred to as magneto-electric encoder, and its principle is to change using magnetic resistance or Hall element Magnetic material angle or shift value measure.The change of magnetic material angle or displacement can cause certain resistance or The change of person's voltage, then the output signal by the signal processing of circuit.
Vicariouss encoder (rotary transformer) is the signal element that a kind of output voltage changes with angle of rotor.Work as excitation When winding is with the alternating voltage excitation of certain frequency, the voltage magnitude and angle of rotor for exporting winding is closed into sinusoidal or cosine function System, or keep a certain proportionate relationship, or in certain angle range it is linear with corner.
Magnetic flux distribution between the stator and rotor of rotary transformer meets sinusoidal rule, therefore determines when excitation voltage is added to When on sub- winding, by electromagnetic coupled, rotor windings produce induction electromotive force.The size of its output voltage depends on the angle of rotor To position, i.e., as the angle of rotor displacement is in sinusoidal variations.The phase angle of induced voltage is equal to the mechanical corner of rotor.Therefore As long as detecting the phase angle of rotor output voltage, the corner of rotor has been known that.
The principle that capacitance-type encoder is utilized is identical with ripe, inexpensive and precision digital vernier slide calliper rule.It has Two columns or wire pattern, one on retaining element, on motor element, both together form a configuration for another For the variable condenser of transmitter/receiver pair.When encoder is rotated, change of the process circuit to these lines is counted, And position and the rotation direction of axle are found using interpolation, set up the orthogonal output of standard, and changing of providing of other encoders To output.
These encoders all have the shortcomings that different in actual application process:
1. the shortcoming of optical-electricity encoder is complex structure, and price is high, and light source life is partially short.
2. the shortcoming of traditional magnetic encoder is that precision is low, and response time is slow.
3. the shortcoming of vicariouss encoder (rotary transformer) is that structure, signal processing are more complicated, and precision is low, volume compared with Greatly, price is high.
4. the shortcoming of capacitance-type encoder is work easily by the interference of extraneous (particularly humidity), job stability It is low, it is impossible to meet the requirement of big displacement (angular displacement) measurement.
Utility model content
Encoder generally existing complex structure at present conventional measurement rotating object, certainty of measurement is not high asks Topic, main purpose of the present utility model is to provide a kind of simple structure, certainty of measurement high absolute type magnetic encoder, can Accurate measurement rotating speed and rotation absolute angular position, can the problems of effectively solving prior art.
In order to achieve the above object, this utility model is adopted the following technical scheme that:
A kind of sensor of accurate measurement rotating speed and rotation absolute angular position, the sensor includes:
Magnetic encoder, the magnetic field of (360 °) is in Sine distribution in the magnetic encoder a cycle;
Sensor body assembly, the sensor body assembly collection comes from the change magnetic of spin magnetization encoder generation , and correspondence exports sinusoidal analog signal all the way and all the way cosine analogue signal.
Preferably, the magnetic encoder magnetizes the magnetic field realized in a cycle by injection in Sine distribution.
Preferably, while the magnetic encoder rotates with target object, the continuous magnetic field of mechanical periodicity is exported.
Preferably, the magnetic encoder includes support ring for fixing and is laid on the magnetic material for supporting ring for fixing side.
Preferably, magnetic material magnetic field intensity in a thickness direction is in stepped change.
Preferably, the support ring for fixing supports and shapes magnetic material, and poly- magnetic.
Preferably, the sensor body assembly includes at least 5 magnetic induction chips, circuit board, support and wires, institute At least 5 magnetic induction chips are stated corresponding to magnetic encoder, is equidistantly disposed on circuit boards by support;The wire and circuit Plate connects.
Preferably, the circuit board is annular, and support is corresponding to circuit board in annular, at least 5 magnetic induction chips Equidistantly it is placed on annular circuit board by annular stent, and rounded distribution.
Preferably, the sensor body assembly also includes packaging part, and the packaging part is by sensor body assembly The encapsulation of magnetic induction chip, circuit board and support is integral.
Preferably, the sensor body assembly also includes metallic shield outer housing.
Preferably, the variation magnetic field that the magnetic induction chip sensing spin magnetization encoder is produced, forms corresponding voltage Signal, and circuit board is reached, the circuit board is overlapped computing to the voltage signal for collecting, and finally exports respectively all the way just String analogue signal and all the way cosine analogue signal.
The contactless absolute type magnetic code sensor that this utility model is provided, is capable of the speed of accurate measurement rotating object Degree and absolute position, while direction of rotation can be detected.
Meanwhile, the certainty of measurement height of the magnetic code sensor, response time are fast, and process is simple, life-span length, can work In the environment of high temperature, greasy dirt.
Furthermore, the circuit design of the magnetic code sensor is simple, is not related to decoding chip, and implementation is ingenious, so as to Innovation Input is few, low cost.
Description of the drawings
This utility model is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is the explosive view of non-contact type magnetic code sensor in this utility model example;
Fig. 2 is the sectional view of non-contact type magnetic code sensor in this utility model example;
Fig. 3 is the structural representation of magnetic encoder in this utility model example;
Fig. 3 a are sectional views of the Fig. 3 in D-D directions;Fig. 4 is the enlarged drawing of part A in Fig. 3 a;
Fig. 5 is the polarity schematic diagram of magnetic material in this utility model example;
When Fig. 6 is that magnetic encoder rotates in this utility model example, the continuous magnetic field schematic diagram of the mechanical periodicity of output.
Fig. 7 is the explosive view of sensor body assembly in this utility model example;
Fig. 8 is magnetic induction chip, circuit board and magnetic encoder in sensor body assembly in this utility model example Between assembling front view;
Fig. 9 is magnetic induction chip, circuit board and magnetic encoder in sensor body assembly in this utility model example Between assembling side elevation;
When Figure 10 is that magnetic encoder rotates in this utility model example, the view of sensor;
When Figure 11 is that magnetic encoder rotates in this utility model example, magnetic induction chip signal output curve in sensor Schematic diagram.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that this utility model is realized are easy to understand, under Face combines and is specifically illustrating, and this utility model is expanded on further.
Referring to Fig. 1 and 2, it illustrates the basic composition structure of non-contact type magnetic code sensor in this utility model example Structure.
As seen from the figure, the generally annular of non-contact type magnetic code sensor 100 in this example, it is main to include annular Magnetic encoder 110, loop sensor body assembly 120 and the part of metal shell 130 3.
Wherein, annular magnet encoder 110 is non-contacting is embedded in loop sensor body assembly 120, and can be with mesh Mark object rotates in sensor body assembly 120;And metal shell 130 is arranged on the outside of sensor body assembly 120.
Thus the non-contact type magnetic code sensor 100 for constituting, annular magnet encoder 110 therein is with target object While rotation, the continuous magnetic field (i.e. 360 ° in a swing circle, magnetic field intensity is in Sine distribution) of mechanical periodicity is exported;Pass Sensor body assembly 120 then gathers the variation magnetic field for coming from spin magnetization encoder 110, by calculating correspondence output all the way just String analogue signal and all the way cosine analogue signal;Based on the two-way analogue signal, rotation absolute angular position, rotation can be accurately obtained Rotary speed and direction of rotation.
And metal shell 130 forms physical protection and EMC protection to sensor, external interference is prevented, protect sensor, protected The reliability of card sensor detection.
For above-mentioned principle scheme, below by way of a concrete application example present principles scheme is further explained.
Annular magnet encoder 110 in this sensor 100, it is mainly used in by the different magnetization curves of rotation output, Loop sensor body assembly 120 is set to sense different magnetic field intensities.
Referring to Fig. 3 and Fig. 3 a, it show the structural representation of annular magnetic encoder 110 in this example.As seen from the figure, The annular magnet encoder 110 is main to be cooperated and is constituted by magnetic material 111 and support ring for fixing 112, the edge of magnetic material 111 The circumferencial direction for supporting ring for fixing 112 is laid on the lateral surface for supporting ring for fixing 112.
Here support ring for fixing 112 is specially a stainless steel coil, using material SUS430, for the magnetic that supports and shape Material 111, and the breakage of magnetic material 111 is prevented, while also having poly- magnetic (collection magnetic) function.Here by stainless steel coil 112 The collection magnetic function of (supporting ring for fixing), can effectively prevent interference of the external magnetic field to magnetic material 111, make magnetic material 111 Magnetic line of force distribution it is more uniform, magnetic direction gathers the radial direction to magnet ring, and magnetic field intensity is more controllable.
Referring to Fig. 4, stainless steel coil of the support ring for fixing 112 by cross section for inverted "L" shaped is constituted, outside the stainless steel coil It is inverted "L" shaped cannelure that side forms cross section, for disposing magnetic material 111, magnetic material 111 can be formed well and be propped up Support and sizing, effectively prevent the breakage of magnetic material 111, and with poly- magnetic function.
Referring to Fig. 4, for magnetic material 111, its generally with the lateral surface as the stainless steel coil for supporting ring for fixing 112 The hollow cylinder (cross section is annular) being engaged, and medial surface has the inverted "L" shaped corresponding to stainless steel coil lateral surface The annular lug of cannelure.
The magnetic material 111 is inverted "L" shaped with the cross section of the lateral surface of stainless steel coil 112 by the annular lug of medial surface Cannelure coordinate, be integrally placed in the lateral surface of stainless steel coil 112, thus constitute annular magnet encoder 110.
Furthermore, after the magnetic material 111 magnetizes, former its circumferencial direction half is N poles, and second half is S poles (such as Fig. 5 institutes Show).The magnetic material 111 makes it have Surface field G1, G2, the G3 of varying strength in thickness direction after magnetizing, thus constitute rank The magnetic field intensity of ladder change, to meet the use demand of sensor.
Based on the annular magnet encoder 110 that such scheme is constituted, it passes through injection and magnetizes to realize a cycle (i.e. 360 °) in magnetic field be in Sine distribution, while thus this annular magnet encoder 110 rotates with target object, will be exportable The continuous magnetic field of mechanical periodicity as shown in Figure 6, i.e., i.e. 360 ° in one swing circle, magnetic field intensity is in Sine distribution.
Referring to Fig. 7 and Fig. 2, the loop sensor body assembly 120 in this sensor 100 mainly includes five magnetic induction cores This several part of piece 121, circuit board 122, support 123, wire 124 and packaging part 125.
Magnetic induction chip 121, is the sensing element in loop sensor body assembly 120, for induced magnetism encoder The changes of magnetic field produced during 110 rotation, forms corresponding voltage signal.
Magnetic induction chip 121 in this example is made up of Hall or magnetoresistive chip, altogether using five, for magnetic induction core The quantity of piece 121 is not limited to five, as needed can using 6 and more than.
Referring to the along the circumferential direction simultaneously equidistant placement of this five magnetic induction chips 121 in Fig. 2, Fig. 8 and Fig. 9, this example On circuit board 122, while forming circular induction zone in the inner side of five magnetic induction chips 121 being along the circumferential direction equally spaced Domain 126, the size of the circular induction region 126 is corresponding with the size of annular magnet encoder 110, can hold annular magnet encoder It is 110 non-contacting, be rotatably placed in it.
Thus when annular magnet encoder 110 rotates, due to the specific magnetic song having on annular magnet encoder 110 Line so that magnetic field constantly changes on annular magnet encoder 110, and five magnetic induction chips 121 are respectively from diverse location Sense corresponding field signal, and export corresponding signal specific, i.e., sense diverse location by five magnetic induction chips 121 Field signal, so as to export signal specific correspondence diverse location.
In order to arrange five magnetic induction chips 121 well, to ensure the reliability of the performance of whole sensor 100, The position of five magnetic induction chips 121 is positioned in this example using support 123, and supports five magnetic induction chips 121 so that Five entirety of magnetic induction chip 121 are reliably placed on circuit board 122.
Referring to Fig. 7, this support 123 is specially the plastic stent of annular, its size and annular magnet encoder 110 Correspondence, can hold that annular magnet encoder 110 is non-contacting, rotatably be placed in it;Offer inner side is equidistant simultaneously Five magnetic induction chip placing groove 123a.Five magnetic induction chips 121 can be carried out by the plastic stent 123 of the annular Fast and accurately position, and form reliable and stable support, so as to realize five entirety reliability of magnetic induction chip 121 and circuit Plate 122 is assembled, to ensure the reliability of whole sensor.
Circuit board 122 in this example is the Signal Processing Element in whole sensor 100, itself and five magnetic induction chips 121 connections, receive and process five magnetic induction chips 121 and sense the periodic magnetic produced when annular magnetic encoder 110 rotates The formed voltage signal of field change, exports sinusoidal signal all the way and all the way cosine signal.
For ease of assembling with magnetic induction chip and plastic stent 123, the circuit board 122 is tied using the PCBA of annular Structure, its size corresponds to plastic stent 123, and is provided with accordingly in the position corresponding to resettlement groove 123a on plastic stent 123 Interface, for being connected with magnetic induction chip 121.
For the efficiently accurate signal for processing five transmission of magnetic induction chip 121, in the circuit board 122 calculating is integrated with Circuit, the counting circuit is mainly made up of electronic devices and components such as integrated operational amplifier, resistance.The counting circuit is to 5 phase places Differing from 72 ° of sine wave carries out addition of waveforms, and the output two-way cycle is identical with amplitude, the sinusoidal signal and cosine that 90 ° of phase Signal.
Due to this two-way sinusoidal signal and cosine signal same time point phase contrast everywhere, after treatment Can obtain rotating absolute angular position;And passing through sinusoidal or cosine periodicity in counting fixed time period then can be rotated Speed.
The counting circuit reduces the complexity and cost of whole circuit board 122 without the need for complex calculation circuit or processor, And ensure the high accuracy of signal.
Thus the annular circuit board 122 for arranging is assembled with the plastic stent 123 for being mounted with five magnetic induction chips 121 and connected Connect, while being connected with five magnetic induction chips 121, the synchronous signal for receiving five transmission of magnetic induction chip 121, by integrated Counting circuit carries out addition of waveforms to the sine wave of 5 72 ° of phase contrasts, and the output two-way cycle is identical with amplitude, 90 ° of phase Sinusoidal signal and cosine signal.
Wire 124 in this example is the signal output component in whole sensor 100, its one end and annular circuit board 122 outfan connection, the other end can connect with corresponding application circuit or equipment, and annular circuit board 122 is produced all the way Sinusoidal signal and all the way cosine signal is reached.
To ensure the reliability of signal transmission, and it is easy to the connection of sensor and application circuit or equipment, the wire 124 The wire harness (referring to Fig. 7) of the connector being specially integrated with.
Packaging part 125 in this example, for magnetic induction chip 121, the plastic stent 123, loop circuit that will assemble Plate 122 and wire 124 encapsulate integral, formation loop sensor body assembly 120.By the encapsulation of packaging part 125, to each Building block forms protection well, and realizes dust-proof, waterproof, it is ensured that the reliability of each building block performance, thus, it is possible to Greatly improve the reliability of whole sensor.
To ensure packaging effect, the packaging part 125 is formed by encapsulating material by way of integrated injection molding, i.e., for composition Good each part, injection molding packaging material is packaged by way of integrated injection moulding.
The loop sensor body assembly 120 for encapsulating formation accordingly is integrated, and can be good at keeping each group Matching relationship between dress part, in the circular induction region 126 of intermediate formation, can hold the noncontact of annular magnet encoder 110 , be rotatably placed in it;Five magnetic induction chips 121, by along the circumferential direction, are equally distributed on by plastic stent 123 The surrounding of circular induction region 126 (referring to Fig. 2).When annular magnet encoder 110 rotates, five magnetic induction chips 121 are distinguished From the corresponding field signal of different location sensitives, and corresponding signal specific is exported to internal circuit board 122.
Referring to Fig. 1 and Fig. 2, the metal shell 130 in this example is arranged on integrated ring shaped sensor body assembly 120 Outside, to carry out physical protection and EMC protection to loop sensor body assembly 120, prevents external interference, protects sensor, Ensure the reliability of sensor detection.
As seen from the figure, the metal shell 130 mainly includes metallic shield outer housing 131 and metal bottom cover 132, metal therein Shielding outer housing 131 generally hollow cylinder, and it is corresponding with the side of the loop sensor body assembly 120 of integration.By This overall side for being set in loop sensor body assembly 120 of metallic shield outer housing 131.
The generally annular of metal bottom cover 132, and it is relative with the bottom surface of the loop sensor body assembly 120 of integration Should.Thus, the metal bottom cover 132 is set directly at the bottom surface of loop sensor body assembly 120, and with loop sensor body The side of assembly 120 coordinates composition metal shell 130, so as to realize the protection to sensor.
According to the embodiment above can be formed non-contact type magnetic code sensor, the sensor when specifically used, Magnetic encoder therein 110 is connected with target object to be measured, and can be rotated with target object;Simultaneously by loop sensor sheet Body assembly 120 is attached by the wire harness 124 for treating connector thereon with corresponding application circuit or equipment.
Magnetic encoder therein 110 magnetizes the magnetic field realized in a cycle (360 degree) by injection in Sine distribution, While magnetic encoder rotates with target object, the continuous magnetic field (magnetic field intensity is in Sine distribution) of mechanical periodicity is exported.
Sensor after power up, five (Halls of magnetic induction chip 121 being distributed in by uniform border on annular circuit board Or magnetoresistive chip) variation magnetic field for coming from the generation of spin magnetization encoder is gathered, form corresponding voltage signal and simultaneously reach Circuit board 122.
Referring to Figure 10 and Figure 11, five uniform borders of magnetic induction chip 121 are distributed the surrounding of annular magnetic encoder 110, Be separated by 72 ° between adjacent magnetic induction chip, produce when rotating from five different azimuths synchronization induced magnetism encoders 110 in just The magnetic field intensity of string change, thus produces the sine voltage signal of 5 72 ° of phase contrasts, and synchronously reaches circuit board 122.
Circuit board 122 carries out addition of waveforms to the sine wave signal of 5 72 ° of phase contrasts by counting circuit, exports two-way Cycle is identical with amplitude, and (wherein Consine signal phases are super than H1 signal for the sinusoidal signal that 90 degree of phase and cosine signal First 45 °, and Sine signals are more advanced than H1 signal 135 °).
Due to sinusoidal, cosine signal same time point amplitude combinations everywhere, application circuit can be through arc tangent Obtain rotating absolute angular position after process;Then can be rotated by counting sinusoidal or cosine periodicity in fixed time period Speed;And the precedence relationship for passing through two paths of signals can obtain direction of rotation.
It can be seen that, this non-contact type magnetic code sensor is capable of the speed of accurate measurement rotating object and absolute position, together When can also detect direction of rotation.
In addition, this non-contact type magnetic code sensor adopts contactless magnetic induction principle, with without abrasion, long-life Feature;And its internal employing five magnetic induction chips (Hall or magnetoresistive chip) border is evenly arranged, signal is greatly improved Precision, and cost performance highest;Simultaneously without the need for complex calculation circuit or processor.
Furthermore, the design of this non-contact type magnetic code sensor non-detachable mold massing, compact conformation, it is easy to tested application collection Into such as bearing.
Ultimate principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description Simply illustrate principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model is also Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed this utility model.This utility model Claimed scope is by appending claims and its equivalent thereof.

Claims (8)

1. a kind of accurate measurement rotating speed and rotation absolute angular position sensor, it is characterised in that the sensor includes:
Magnetic encoder, the magnetic field in the magnetic encoder a cycle is in Sine distribution;The magnetic encoder includes propping up Support ring for fixing and be laid on the magnetic material for supporting ring for fixing side, magnetic material magnetic field intensity in a thickness direction is in Stepped change;
Sensor body assembly, the sensor body assembly collection comes from the variation magnetic field of spin magnetization encoder generation, And correspondence exports sinusoidal analog signal all the way and all the way cosine analogue signal;The sensor body assembly includes at least 5 magnetic Induction chip, circuit board, support and wire, at least 5 magnetic induction chips correspond to magnetic encoder, by support etc. Away from placement on circuit boards;The wire is connected with circuit board.
2. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In, while the magnetic encoder rotates with target object, the continuous magnetic field of output mechanical periodicity.
3. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In the magnetic encoder magnetizes the magnetic field realized in a cycle by injection in Sine distribution.
4. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In the support ring for fixing supports and shape magnetic material, and poly- magnetic.
5. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In the variation magnetic field that the magnetic induction chip sensing spin magnetization encoder is produced forms corresponding voltage signal, and reaches electricity Road plate, the circuit board is overlapped computing to the voltage signal for collecting, finally export respectively all the way sinusoidal analog signal and Cosine analogue signal all the way.
6. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In the circuit board is annular, and support is in annular corresponding to circuit board, and at least 5 magnetic induction chips are by annular Frame is equidistantly placed on annular circuit board, and rounded distribution.
7. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists Also include packaging part in, the sensor body assembly, the packaging part is by magnetic induction chip, the electricity in sensor body assembly Road plate and support encapsulation are integral.
8. the sensor of a kind of accurate measurement rotating speed according to claim 1 and rotation absolute angular position, its feature exists In the sensor body assembly also includes metallic shield outer housing.
CN201620793336.2U 2016-07-26 2016-07-26 Sensor of precision measurement rotational speed and rotatory absolute angle position Active CN206132084U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107916509A (en) * 2017-11-24 2018-04-17 杰克缝纫机股份有限公司 Eedle position detection, stop the setting of pin position, needle stop controlling means, system, terminal and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107916509A (en) * 2017-11-24 2018-04-17 杰克缝纫机股份有限公司 Eedle position detection, stop the setting of pin position, needle stop controlling means, system, terminal and device
CN107916509B (en) * 2017-11-24 2020-09-04 杰克缝纫机股份有限公司 Needle position detection, needle stop position setting and needle stop control method, system, terminal and device

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