CN206300667U - Coding disk, the photoelectric measuring angular encoder using the coding disk - Google Patents
Coding disk, the photoelectric measuring angular encoder using the coding disk Download PDFInfo
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- CN206300667U CN206300667U CN201621406876.7U CN201621406876U CN206300667U CN 206300667 U CN206300667 U CN 206300667U CN 201621406876 U CN201621406876 U CN 201621406876U CN 206300667 U CN206300667 U CN 206300667U
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Abstract
The utility model is related to a kind of coding disk, the photoelectric measuring angular encoder using the coding disk, including grating disc, relative coding and absolute coding are coaxially disposed in the card of the grating disc, the first code channel residing for the relative coding is arranged concentrically with the center of the grating disc, and the second code channel residing for the absolute coding is arranged concentrically with the center of the grating disc；Relative coding and absolute coding are co-axially located on same grating disc so that photoelectric measuring angular encoder can choose relative coding or absolute coding as beasurement base according to the different of rotating speed；Under the support of absolute type angle measurement, relative type motor angle measurement can just calculate absolute angle without zero cross signal；Under the support of relative angle measurement, accuracy and recognition speed that absolute type angle measurement can be recognized with the raising bar code of high degree are rejected by error code, and correctness and precision are improve while measuring speed is improved.
Description
Technical field
The utility model is related to photoelectric measurement equipment technical field, particularly a kind of coding disk, the light using the coding disk
Electrical measurement angular encoder.
Background technology
The method for measuring the anglec of rotation mainly has two kinds, and one kind is relative type motor angle measurement, and another is absolute type angle measurement.
During the measurement anglec of rotation, photoelectric encoder is extremely important instrument；Photoelectric encoder be a kind of collection it is light, mechanical, electrical be one
The digital detecting device of body, it have resolving power high, high precision, simple structure, small volume, using be reliable, easy to safeguard, property
Valency than it is high the advantages of, closely during the last ten years, have developed into it is a kind of maturation many specifications, high performance Series Industrial product, in number
Many necks such as control lathe, robot, radar, electro-optic theodolite, ground control's instrument, high precision closed loop governing system, servo-drive system
It is widely used in domain.
Photoelectric encoder can be divided into increment type and the class of absolute type two according to operation principle, apply respectively in relative type motor angle measurement and
Absolute type angle measurement field.Incremental encoder (abbreviation incremental encoder) is that displacement is converted into periodic electric signal, then
This electric signal is transformed into count pulse, and the size of displacement is represented with the number of pulse.Absolute type encoder (abbreviation absolute coding
Device) each position correspondence one determination digital code, therefore its indicating value only with measurement starting and final position it is relevant,
And it is unrelated with the pilot process of measurement.
Current China typically all uses CCD or CMOS as image acquisition device using the system of absolute type angle-measuring method,
Being limited to these imageing sensors needs certain time for exposure, and either one-dimensional or two-dimentional its data volume of image is huge
Greatly, reading and storing these data needs the regular hour, and analyze data is also required to consume the regular hour, so using these
Although the coding disk of image sensor can reach precision very high, the real-time angular measurement under rotating speed high cannot be realized.And
The system of many use relative type motor angle-measuring methods its sensor for using is photodiode, and the response speed of photodiode is non-
Often it is regarded as real-time response soon, data volume very little processes the method for these data also very simple and fast, so such coding
Disk measuring speed is exceedingly fast, it is possible to achieve the real-time angular measurement under rotating speed high, but its precision to incremental encoding grating, system
The control of Automatic manual transmission size and mechanical stability requirements are very high, and requirement of the more high-precision system to these standards is more
Height, its difficulty reaches angle measurement accuracy higher.
With the development of e measurement technology, the precision and rate requirement more and more higher of mapping, to adapt to this demand, total powerstation is obtained
To being more widely applied；One kind that such as Chinese patent Authorization Notice No. CN204718602U is announced can automatic identification target
Servo total powerstation, the said equipment is equipped with two sets of absolute coding goniometry systems, realizes remote control or unmanned self-help operation；By
The characteristics of absolute coding goniometry system itself so that equipment cannot obtain the accurate seat of object under high-speed motion state
Mark, therefore the target in movement can not be tracked, cause measurement efficiency relatively low；Therefore one kind is set and is suitable for total powerstation in high speed fortune
The simultaneously applicable photoelectric measuring angular encoder of dynamic state, low-speed motion state, inactive state is that those skilled in the art are badly in need of solving
Technical problem.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of inexpensive and high speed, high-precision coding disk, answers
With the photoelectric measuring angular encoder of the coding disk.
In order to solve the above technical problems, the coding disk that the utility model is provided, including：Grating disc, the card of the grating disc
On be coaxially disposed relative coding and absolute coding, the first code channel residing for the relative coding is concentric with the center of the grating disc
Set, the second code channel residing for the absolute coding is arranged concentrically with the center of the grating disc.
Further, the relative coding be arranged alternately successively at equal intervals printing opacity code and light tight code, be easy to detection and
Identification.
Further, the absolute coding be the one-dimensional absolute coding of individual pen, one-dimensional coding scheme its to imageing sensor requirement
Low, data volume is less, and the complexity that signal is resolved is relatively low, and hardware cost is relatively low.
Further, the first code channel residing for the relative coding is set close to the circumferential edges of the grating disc, the list
The the first code channel inner side residing for the second code channel close to the relative coding residing for one-dimensional absolute coding is enclosed to set；Or the individual pen
The second code channel residing for one-dimensional absolute coding is set close to the circumferential edges of the grating disc, and residing for the relative coding first
The second code channel inner side residing for code channel close to the one-dimensional absolute coding of the individual pen is set.
Further, the absolute coding is the two dimension absolute coding of many code channels, and the first code channel residing for the relative coding is tight
The circumferential edges of the adjacent grating disc are set, and the code channel residing for many code channels two dimension absolute coding is close to the relative coding institute
The first code channel inner side at place is set, and information capacity is big, can obtain precision higher.
A kind of photoelectric measuring angular encoder, including above-mentioned coding disk, the centrally disposed rotary shaft of the coding disk, in also including
Centre data handling system, the increment signal acquisition system for gathering relative coding signal, for gathering absolute coding signal
Image capturing system, the central data processing system is electrically connected with the increment signal acquisition system, image capturing system, is used
In the information that treatment increment signal acquisition system, image capturing system are collected.
Further, the increment signal acquisition system is reflective optical encoder device, the reflective optical encoder device dress
Fit on the bearing of the rotary shaft, the reflective optical encoder device is set parallel to the grating disc, and with grating disc
Bar code portrays face homonymy, so that reflective optical encoder device is just to the center of the first code channel residing for the relative coding, it is easy to
Read the relative coding on grating disc.
Further, described image acquisition system includes ccd sensor unit and LED illumination unit, the ccd sensor list
Unit is assemblied on the bearing of the rotary shaft, and the ccd sensor unit portrays face homonymy with the bar code of grating disc, so that CCD is passed
Just to the center of the code channel residing for the absolute coding, the LED illumination unit is symmetricly set on the rotary shaft to sensor cell
Bearing relative opposite side, be easy to read grating disc on absolute coding.
Further, the increment signal acquisition system and image capturing system are arranged on the different radial lines of grating disc, are kept away
Exempt from the signal acquisition of the encoder of the LED illumination unit influence increment signal acquisition system of image capturing system.
The method of work of above-mentioned photoelectric measuring angular encoder, comprises the following steps：
A, opening photoelectric measuring angular encoder, initialize photosignal, read absolute encoder position, are worth at this angle as phase
To the start bit of angle measurement.
After B, rotary shaft rotation, incremental encoding signal is read by increment signal acquisition system, and by central data processing system
The current position of statistics, rotating speed and rotation direction, the rotating speed obtained by calculating and preset rotation speed are compared, and are turned higher than default
It is stopped by central data processing system control image capturing system when fast, closes absolute angle measurement, is adopted using only increment signal
Collecting system carries out relative angle measurement；When rotating speed obtained by calculating is less than preset rotation speed, adopted by central data processing system control image
Collecting system is started working, and opens absolute angle measurement, and the signal that image capturing system reads absolute encoder carries out graphical analysis, by center
Data handling system calculates absolute angle, is worked asynchronously with absolute angle measurement with respect to angle measurement；By central data processing system according to absolutely
Angle measurement and relative angle measuring system are modified to the angle value for obtaining, error occurs in the absolute encoder signal that absolute angle measurement is obtained
When, the relative angle measured according to relative code-disc rejects error bar code, and absolute angle angle value is modified.
The technique effect of utility model：（1）Coding disk of the present utility model, relative to prior art, relative coding and absolutely
Coding is co-axially located on same grating disc so that photoelectric measuring angular encoder can according to rotating speed it is different choose relative codings or
Absolute coding is used as beasurement base；（2）Under the support of absolute type angle measurement, relative type motor angle measurement can just be calculated without zero cross signal
Absolute angle；（3）Under the support of relative angle measurement, accuracy that absolute type angle measurement can be recognized with the raising bar code of high degree and
Recognition speed, is rejected by error code, and correctness and precision are improve while measuring speed is improved；（4）Because absolute type
Angle measuring system test the speed it is relatively slow, therefore when the rotating speed of rotary shaft is more than certain value, absolute type angle measuring system just cannot normal work,
And now, relative type motor angle measuring system can normal work, central data processing system and control system can be closed directly definitely
Formula angle measuring system, reduces the power consumption of system, when the speed of rotary shaft is less than setting value, absolute type angle measuring system is opened at once,
Therefore total powerstation is suitable in high-speed motion state, low-speed motion state, the different demands of inactive state；（5）Because the system
Two sets of angle measuring systems are contained, therefore it can be provided out two sets of angle values of angle measuring system.
Brief description of the drawings
The utility model is described in further detail with reference to Figure of description：
Fig. 1 is the structural representation of the coding disk of the utility model embodiment 1；
Fig. 2 is the partial enlarged drawing of a-quadrant in Fig. 1；
Fig. 3 is the structural representation of the coding disk of the utility model embodiment 1.
In figure：Grating disc 1, center 2, the first code channel 3, the second code channel 4, relative coding 5, printing opacity code 51, light tight code 52,
The one-dimensional absolute coding 6 of individual pen, two-dimentional absolute coding 7.
Specific embodiment
Embodiment 1
The coding disk of the present embodiment, including bar code grating disc 1, as shown in figure 1, being dual track disk above the bar code grating disc
（Printing opacity code and light tight code in code channel is not shown）, the first code channel 3 close to grating disc 1 circumferential edges set, the second code channel 4
Set close to the inner side of the first code channel 3；As shown in Fig. 2 be the one-dimensional increment relative coding 5 of 2500 lines in the first code channel 3, by 2500
The printing opacity code 51 and light tight code 52 that bar is arranged alternately successively at equal intervals are constituted；Be in second code channel 4 1080 lines individual pen it is one-dimensional
Absolute coding 6, the fixing assembling rotary shaft of center 2 of bar code grating disc 1, it is ensured that the center of rotation of rotary shaft and grating disc code channel
Pivot is concentric.
Embodiment 2
The coding disk of the present embodiment, equally includes bar code grating disc 1, and the bar code grating disc 1 is above dual track disk, second
Code channel 4 is set close to the circumferential edges of grating disc 1, and the first code channel 3 is set close to the inner side of the second code channel 4；It is in first code channel 3
The one-dimensional increment relative coding 5 of 2500 lines, the printing opacity code 51 and the structure of light tight code 52 being arranged alternately successively at equal intervals by 2500
Into；It is the one-dimensional absolute coding 6 of individual pen of 1080 lines in second code channel 4, the fixing assembling rotary shaft of center 2 of bar code grating disc 1, really
The center of rotation of guarantor's rotary shaft and the pivot of grating disc code channel are concentric.
Embodiment 3
As shown in figure 3, the coding disk of the present embodiment includes setting one-dimensional increment relative coding 5 with two-dimentional absolute coding 7
Bar code grating disc 1, the circumferential edges of the bar code grating disc 1 set one-dimensional increment relative coding 5, the one-dimensional increment relative coding 5
It is made up of the printing opacity code 51 and light tight code 52 that are arranged alternately successively at equal intervals；Two-dimentional absolute coding 7 is arranged on one-dimensional increment phase
To the inner side of coding 5, one-dimensional increment relative coding 5 and two-dimentional absolute coding 7 are arranged concentrically.
Embodiment 4
A kind of photoelectric measuring angular encoder, including above-described embodiment coding disk, the centrally disposed rotary shaft of the coding disk, in
Centre data handling system, the increment signal acquisition system for gathering relative coding signal, for gathering absolute coding signal
Image capturing system, the central data processing system is electrically connected with the increment signal acquisition system, image capturing system, is used
In the information that treatment increment signal acquisition system, image capturing system are collected.Increment signal acquisition system is reflection type photoelectricity
Encoder, reflective optical encoder device is assemblied on the bearing of rotary shaft, and the reflective optical encoder device sets parallel to grating disc
Put, and face homonymy is portrayed with the bar code of grating disc, so that reflective optical encoder device is just to first yard residing for relative coding
The center in road.Image capturing system includes ccd sensor unit and LED illumination unit, and ccd sensor unit is assemblied in rotary shaft
Bearing on, the bar code of the ccd sensor unit and grating disc portrays face homonymy, so that ccd sensor unit is just to definitely volume
The center of the code channel residing for code, LED illumination unit is symmetricly set on the relative opposite side of the bearing of rotary shaft, is easy to read grating
Absolute coding on disk.Increment signal acquisition system and image capturing system are arranged on the different radial lines of grating disc, it is to avoid figure
As the signal acquisition of the encoder of the LED illumination unit influence increment signal acquisition system of acquisition system.Central data processing system
Uniting can be realized using single-chip microcomputer or DSP module, such as DSP2812.
The analog photoelectric encoder that the increment signal acquisition system is used includes three road signals, and the first via is digital
Zero passage（Datum line）Signal, the second tunnel is the sinusoidal signal of simulation, and the 3rd tunnel is the cosine signal of simulation.Zero cross signal it is main
It is to determine benchmark line position, anti-leak-stopping code and prevents accumulated error.Second and the 3rd the sinusoidal and cosine signal on tunnel be that we are straight
Tipping auxiliary tone trial signal, using its characteristic, can debug increment signal acquisition system according to the lissajous figures of dual trace oscilloscope
Assembling and setting.The first step, give ADC chips is digitized treatment to the two paths of signals after filtering, after the simulation process such as amplification.
Central data processing system and control system are divided by the two railway digital cosine and sine signals that the ADC chips of encoder are sent and obtain it
Tangent value, then calculates arc tangent by look-up table or directly, obtains phase angle a '.Two are carried out to digital cosine and sine signal simultaneously
Value is processed, it may be determined that the quadrant being presently in, and a ' is modified, and can seek current elephant parallactic angle a.In addition, by two
The rotation direction of rotary axis can also be obtained after the binary conversion treatment of railway digital cosine and sine signal and bar code is counted, can determine that
In known location M at a distance of how many bar codes, it is assumed that the value is N, then final angle C is：
C = M+N×P+a×P÷360°（P = 360°÷2500）.
To ccd signal, give ADC chips is digitized place to image capturing system after filtering, after the simulation process such as amplification
After submitting after reason, central data processing system and control system receive this group of data signal, by signal sub-pixel
Edge check treatment, can obtain two fine edges of each bar code.Each bar code edge to the distance at edge be the bar code
Width, bar code width correspondence bar code code value.One group of bar code value has corresponded to this kind of absolute code coded system position,
It is unique position.In addition, because incremental code and absolute code existence position relation in our coded system, now according to
The measured value surveyed according to incremental code angle measuring system can check this group of absolute code to be worth correctness, can error correction mutually between them.
The absolute code value of the group may finally be obtained, the code value corresponds to an angle value L.The center at two edges of each bar code is
The center of the bar code, according to the correlation at each bar code center in this group of bar code, with reference to each bar code of its theory
Center can obtain current location and this group of bias e of bar code value position in the relation at center, then can obtain current location
Accurately angle A is：A= L+e.
Because the increment type angle measurement scheme measuring speed of the system is far above absolute type angle measurement scheme, but its certainty of measurement is low
In absolute type angle measurement, therefore, in rotary axis high-speed rotation, this angle measuring system can turn off absolute type angle measuring system, play drop
The effect of low-power consumption；When rotary axis are slowly rotated, start absolute type angle measuring system, improve angle measurement accuracy.
Embodiment 5
The method of work of above-mentioned electrical measurement angular encoder, comprises the following steps：
A, opening photoelectric measuring angular encoder, initialize photosignal, read absolute encoder position, are worth at this angle as phase
To the start bit of angle measurement.
After B, rotary shaft rotation, incremental encoding signal is read by increment signal acquisition system, and by central data processing system
The current position of statistics, rotating speed and rotation direction, the rotating speed obtained by calculating and preset rotation speed are compared, and are turned higher than default
It is stopped by central data processing system control image capturing system when fast, closes absolute angle measurement, is adopted using only increment signal
Collecting system carries out relative angle measurement；When rotating speed obtained by calculating is less than preset rotation speed, adopted by central data processing system control image
Collecting system is started working, and opens absolute angle measurement, and the signal that image capturing system reads absolute encoder carries out graphical analysis, by center
Data handling system calculates absolute angle, is worked asynchronously with absolute angle measurement with respect to angle measurement；By central data processing system according to absolutely
Angle measurement and relative angle measuring system are modified to the angle value for obtaining, error occurs in the absolute encoder signal that absolute angle measurement is obtained
When, the relative angle measured according to relative code-disc rejects error bar code, and absolute angle angle value is modified.
Pre-set velocity needs precision, image capturing system, the central data processing system according to absolute encoder, relative code-disc
The parameter such as operational capability be adjusted, by taking the application of the dual track bar code grating disc in embodiment 1 as an example, rotary shaft is with rotating speed
When fast state more than 400 revs/min is rotated, central data processing system control image capturing system is stopped, and closes
Absolute angle measurement is closed, relative angle measurement is carried out using only increment signal acquisition system；When the rotating speed of rotary shaft is less than 400 revs/min, in
Centre data handling system control image capturing system is started working, and absolute angle measurement is opened, with respect to angle measurement work synchronous with absolute angle measurement
Make, to obtain two angle values simultaneously.
Obviously, above-described embodiment is only intended to clearly illustrate the utility model example, and is not to this reality
With the restriction of new implementation method.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need and unable to be exhaustive to all of implementation method.And these
Belong to obvious change or change still in protection domain of the present utility model that spirit of the present utility model amplifies out
Among.
Claims (9)
1. a kind of coding disk, it is characterised in that including：Grating disc（1）, the grating disc（1）Card on be coaxially disposed relative volume
Code（5）And absolute coding, the relative coding（5）The first residing code channel（3）With the grating disc（1）Center（2）With one heart
Set, the second code channel residing for the absolute coding（4）With the grating disc（1）Center（2）It is arranged concentrically.
2. coding disk according to claim 1, it is characterised in that the relative coding（5）Alternately to set successively at equal intervals
The printing opacity code put（51）With light tight code（52）.
3. coding disk according to claim 2, it is characterised in that the absolute coding is the one-dimensional absolute coding of individual pen（6）.
4. coding disk according to claim 3, it is characterised in that the relative coding（5）The first residing code channel（3）Tightly
The adjacent grating disc（1）Circumferential edges set, the one-dimensional absolute coding of individual pen（6）The second residing code channel（4）Close to institute
State relative coding（5）The first residing code channel（3）Inner side is set；Or the one-dimensional absolute coding of individual pen（6）Residing second code
Road（4）Close to the grating disc（1）Circumferential edges set, the relative coding（5）The first residing code channel（3）Close to described
The one-dimensional absolute coding of individual pen（6）The second residing code channel（4）Inner side is set.
5. coding disk according to claim 2, it is characterised in that the absolute coding is the two dimension absolute coding of many code channels
（7）, the relative coding（5）The first residing code channel（3）Close to the grating disc（1）Circumferential edges set, the multi-code
Road two dimension absolute coding（7）Residing code channel is close to the relative coding（5）The first residing code channel（3）Inner side is set.
6. a kind of photoelectric measuring angular encoder, it is characterised in that including the described coding disk of one of the claims 1 to 5, the volume
The center of code-disc（2）Rotary shaft, increment signal also including central data processing system, for gathering relative coding signal are set
Acquisition system, the image capturing system for gathering absolute coding signal, the central data processing system are believed with the increment
Number acquisition system, image capturing system electrical connection.
7. photoelectric measuring angular encoder according to claim 6, it is characterised in that the increment signal acquisition system is reflection
Formula photoelectric encoder, the reflective optical encoder device is assemblied on the bearing of the rotary shaft, the reflective optical encoder device
Parallel to the grating disc（1）Set, and and grating disc（1）Bar code portray face homonymy so that reflective optical encoder device
Just to the first code channel residing for the relative coding（3）Center.
8. photoelectric measuring angular encoder according to claim 7, it is characterised in that described image acquisition system includes that CCD is passed
Sensor cell and LED illumination unit, the ccd sensor unit are assemblied on the bearing of the rotary shaft, the ccd sensor list
Unit and grating disc（1）Bar code portray face homonymy so that ccd sensor unit is just to the second code channel residing for the absolute coding
（4）Center, the LED illumination unit is symmetricly set on the relative opposite side of the bearing of the rotary shaft.
9. photoelectric measuring angular encoder according to claim 8, it is characterised in that the increment signal acquisition system and image
Acquisition system is arranged on grating disc（1）Different radial lines on.
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| CN201621406876.7U CN206300667U (en) | 2016-12-20 | 2016-12-20 | Coding disk, the photoelectric measuring angular encoder using the coding disk |
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| CN201621406876.7U CN206300667U (en) | 2016-12-20 | 2016-12-20 | Coding disk, the photoelectric measuring angular encoder using the coding disk |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106706012A (en) * | 2016-12-20 | 2017-05-24 | 常州市新瑞得仪器有限公司 | Coding disc, photoelectric angle measurement encoder using same, and work method thereof |
| CN108534803A (en) * | 2018-01-15 | 2018-09-14 | 浙江理工大学 | The code-disc and its design method of hybrid encoder |
| CN108716927A (en) * | 2018-06-29 | 2018-10-30 | 广东工业大学 | A kind of image-type photoelectric encoder and its grating encoder |
| CN108801302A (en) * | 2018-04-27 | 2018-11-13 | 广东工业大学 | A kind of reflective rotary encoder of high-precision dual track |
| CN109662877A (en) * | 2019-01-08 | 2019-04-23 | 奥佳华智能健康科技集团股份有限公司 | A kind of massager |
| CN111279158A (en) * | 2019-04-23 | 2020-06-12 | 大族激光科技产业集团股份有限公司 | Grating disc and feedback system |
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2016
- 2016-12-20 CN CN201621406876.7U patent/CN206300667U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106706012A (en) * | 2016-12-20 | 2017-05-24 | 常州市新瑞得仪器有限公司 | Coding disc, photoelectric angle measurement encoder using same, and work method thereof |
| CN106706012B (en) * | 2016-12-20 | 2019-03-26 | 常州市新瑞得仪器有限公司 | Coding disk, photoelectric measuring angular encoder and its working method using the coding disk |
| CN108534803A (en) * | 2018-01-15 | 2018-09-14 | 浙江理工大学 | The code-disc and its design method of hybrid encoder |
| CN108534803B (en) * | 2018-01-15 | 2020-09-11 | 浙江理工大学 | Code disc of hybrid encoder and design method thereof |
| CN108801302A (en) * | 2018-04-27 | 2018-11-13 | 广东工业大学 | A kind of reflective rotary encoder of high-precision dual track |
| CN108716927A (en) * | 2018-06-29 | 2018-10-30 | 广东工业大学 | A kind of image-type photoelectric encoder and its grating encoder |
| CN108716927B (en) * | 2018-06-29 | 2020-11-13 | 广东工业大学 | Image type photoelectric encoder and grating code disc thereof |
| CN109662877A (en) * | 2019-01-08 | 2019-04-23 | 奥佳华智能健康科技集团股份有限公司 | A kind of massager |
| CN111279158A (en) * | 2019-04-23 | 2020-06-12 | 大族激光科技产业集团股份有限公司 | Grating disc and feedback system |
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