CN213812330U

CN213812330U - Multi-circle absolute value magnetic encoder

Info

Publication number: CN213812330U
Application number: CN202022885964.2U
Authority: CN
Inventors: 刘世昌; 邹风山; 马壮; 于海亮; 李俊达; 李加平
Original assignee: Shandong Siasun Industrial Software Research Institute Co Ltd
Current assignee: Shandong Siasun Industrial Software Research Institute Co Ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-07-27
Anticipated expiration: 2030-12-04

Abstract

The utility model relates to a many rings of absolute value magnetic encoder, many rings of absolute value magnetic encoder include the PCB base plate, set up in the corner measuring module of PCB base plate and connect in corner measuring module's multistage gear drive system, gear drive system at different levels among the multistage gear drive system includes main drive gear, driven gear and connection main drive gear with driven gear's clearance mechanism that disappears, the utility model discloses a gear drive of pure mechanical type can realize that arbitrary position code is absolute only, does not receive electric and software influence, has high stability and high reliability, adopts screw thread clearance mechanism that disappears moreover, can effectively reduce the transmission clearance to realize the high accuracy of corner and measure.

Description

Multi-circle absolute value magnetic encoder

Technical Field

The utility model relates to a sensor technology field especially relates to a many rings of absolute value magnetic encoder, many rings of absolute value magnetic encoder adopts screw thread anti-backlash gear drive, can realize that the optional position coding is only, and can realize the high accuracy measurement of corner.

Background

The internal code of the absolute value encoder is previously provided with a large data code, each position is a unique code in the whole specified measuring process, and a new code cannot be generated after the use. The multi-turn absolute value encoder on the market at present mainly has three types: the first type is an electronic counting type multi-turn absolute value encoder, which is absolute value within 360 degrees, returns to zero after exceeding 360 degrees, and increases the encoding of the multi-turn encoder by increasing or decreasing a counter. I.e. the original encoding of the data of the turns is not performed, but rather retrieved from a register and used to obtain a new encoding by means of a counter. As for the multi-turn absolute value encoders disclosed in patent publication nos. CN204202625U and CN208847208U, although such multi-turn absolute value encoders implement multi-turn absolute position counting, such multi-turn absolute value encoders all require an external power supply to supply power, once the system is powered off, an external battery or a power module is required to supply power, otherwise, data loss is easily caused; that is, the electronic counting multi-turn absolute value encoder is poor in reliability and fault tolerance. The second type is a mechanical multi-turn absolute value encoder, such as those disclosed in patent publication nos. CN2028855839U and CN108592955B, in which a gear transmission structure similar to a running water meter is provided, i.e. a series of reduction gear sets meshing with the main mechanical shaft step by step, and each stage of gear has an integral multiple reduction ratio relationship with the previous stage of gear and the main mechanical shaft. Therefore, the detection of the number of rotation turns of the main mechanical shaft of the encoder can be realized by identifying the rotation angle position of each gear, so that the absolute uniqueness of any position code is realized. However, this type of encoder is expensive to manufacture, the transmission accuracy is limited by the machining accuracy of the gears, and the transmission clearance between the gears inevitably affects the encoder accuracy. The third type is a wiegand effect encoder, such as an encoder disclosed in patent publication No. CN103344262B, in which a wiegand coil based on the wiegand effect is placed in a magnetic encoder and close to a terminal magnet on a mechanical shaft, so that electric pulses excited at both ends of the coil by means of magnetic field rotation can trigger counting and accumulating actions of an internal register, thereby realizing the detection of the number of turns of the magnetic encoder. But this still does not change the fact that its position code is calculated based on historical data. The disadvantages of such encoders include: the number of turns and the position record in the register are easy to be lost accidentally due to electric or software reasons such as line interference, storage failure, counting error and the like, and further the problem of failure of the multi-turn absolute value feedback function of the encoder is caused.

Generally, the existing encoder has the problems that the encoding position is easily interfered by electricity and software, the encoding position cannot be absolutely unique, and the data loss is easily caused due to the influence of system power failure, so that the stability and the reliability of the rotation angle measurement of the existing encoder are low.

SUMMERY OF THE UTILITY MODEL

The utility model has the advantages that the utility model provides a many circles of absolute value magnetic encoder, the many circles of absolute value magnetic encoder adopts gear drive, and the pure mechanical position coding is not influenced by the electrical and software problems, and can realize that the arbitrary position coding is absolutely unique; an external power supply is not needed, the influence of system power failure is avoided, data cannot be lost even if the power is cut off for a long time or does not work, and the stability and the reliability are high; in addition, the gear transmission also adopts a thread clearance elimination mechanism, so that the transmission clearance can be effectively reduced, and the high-precision measurement of the magnetic encoder can be realized.

A multi-turn absolute value magnetic encoder is suitable for being fixedly connected with a motor and comprises a PCB (printed circuit board) substrate, a corner measuring module arranged on the PCB substrate and a multi-stage gear transmission system connected with the corner measuring module; the rotation angle measuring module is used for detecting rotation angles of all levels of gear transmission systems of the multi-level gear transmission system and calculating the rotation angles of the motor based on the rotation angles of all levels of gear transmission systems of the multi-level gear transmission system; each stage of gear transmission system in the multi-stage gear transmission system comprises a main transmission gear, a driven gear and a gap eliminating mechanism for connecting the main transmission gear and the driven gear, the anti-backlash mechanism comprises a threaded column and a thin elastic body, the threaded column and the tail end of a rear output shaft of the motor are both connected with the corner measuring module, the driven gear and the main transmission gear are sequentially in threaded connection with the threaded column, the main transmission gear comprises an upper gear and a lower gear, the thin elastic body is sleeved on the threaded column and is arranged between the upper gear and the lower gear, the upper gear and the lower gear are in threaded connection with the threaded columns and form a staggered tooth arrangement state, so as to reduce the pinion drive clearance when meshing between the main drive gear and the driven gear, thereby achieving high-precision measurement of the rotation angle.

The utility model discloses an in the embodiment, anti-backlash mechanism further includes lock nut, lock nut set up in on the main drive gear and threaded connection in the screw thread post for compress tightly the locking main drive gear the upper gear with the lower gear.

In an embodiment of the present invention, the rotation angle measuring module includes a sensor group and a magnetic group corresponding to the position of the sensor group, the sensor group includes a plurality of hall sensors, the hall sensors are disposed on the PCB substrate, the magnetic group includes a plurality of magnetic poles, the magnetic poles correspond to the position of the hall sensors one by one and the magnetic poles are disposed at the end of the threaded column.

The utility model discloses an in one embodiment, the sensor group includes four hall sensor, the magnetism group includes four the magnetic pole, hall sensor respectively with correspond the magnetic pole sets up relatively, each hall sensor detects correspondingly the absolute position of magnetic pole, the absolute position coding information of corner is exported based on four group's data calculation to the corner measuring module.

In an embodiment of the present invention, the magnetic assembly further includes a plurality of magnetic pole seats, and the magnetic poles are disposed in the corresponding magnetic pole seats.

In an embodiment of the present invention, the multi-stage gear transmission system is a three-stage gear transmission system, and the transmission ratio of each stage is 16.

In an embodiment of the present invention, the driven gear is a spur gear.

In an embodiment of the present invention, the thin elastic body is of a wave structure and made of flexible ABS plastic material.

The utility model discloses an in an embodiment, many rings of absolute value magnetic encoder further includes the encoder casing, the encoder casing include the casing and with go up the lower casing of casing looks adaptation, the PCB base plate fixed set up in go up the casing, the corner measurement module with multistage gear drive system set up in go up the casing with the casing defines in the holding tank that forms down.

The utility model has the advantages of it is following:

(1) many rings of absolute value magnetic encoder adopts mechanical type high accuracy gear anti-backlash transmission, need not the high accuracy installation, and arbitrary absolute position code is unique, and the position does not receive electric and software to influence, and need not extra power supply system, does not receive the system outage influence, can realize the high accuracy measurement to the corner, has the advantage of high reliability and high stability.

(2) The multi-circle absolute value magnetic encoder of the utility model adopts the thread clearance eliminating mechanism to eliminate the gear transmission clearance without excessive components, the whole structure is convenient and simple to install, and the transmission clearance can be effectively reduced, so as to be beneficial to improving the measurement precision of the corner; and the gear interchangeability is strong, the maintenance is convenient, and the cost is low.

(3) Many rings of absolute value magnetic encoder utilizes the magnetism principle, and the core component is magnetic pole and hall sensor, possesses high-speed rotation and stronger anti-vibration ability, can be applicable to and use extensive applicability in the adverse circumstances.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

Drawings

Fig. 1 is a schematic external view of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 2 is a schematic diagram of an internal structure of the multi-turn absolute value magnetic encoder according to a preferred embodiment of the present invention.

Fig. 3 is a schematic partial structural diagram of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 4 is a schematic cross-sectional view of a partial structure of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the thin elastic body of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention, which illustrates a force direction of the thin elastic body when the thin elastic body is installed.

Fig. 6 is a schematic structural diagram of the PCB substrate of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 7 is a schematic structural diagram of the upper housing of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 8 is a schematic cross-sectional view of the upper housing of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 9 is a schematic structural diagram of the lower housing of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

Fig. 10 is a schematic cross-sectional view of the lower case of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.

The reference numbers illustrate: a multi-turn absolute value encoder 100; a PCB substrate 10; a positioning hole 101; a rotation angle measuring module 20; a sensor group 21; a hall sensor 211; a magnetic group 22; a magnetic pole 221; a pole holder 222; a multi-stage gear system 30; a main transmission gear 31; an upper gear 311; a lower gear 312; a driven gear 32; a backlash mechanism 33; a threaded post 331; a thin elastic body 332; a lock nut 333; a bearing 35; an encoder housing 40; an upper case 41; a positioning column 411; an opening 4111; a cone cap 4112; a wiring hole 412; a lower case 42; bearing mounting holes 421, mounting holes 422, lower shell seam allowance 423; a motor 200.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "vertical," "horizontal," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 to 10, a specific structure of a multi-turn absolute value encoder 100 according to a preferred embodiment of the present invention is illustrated. As shown in fig. 1 to 4, the multi-turn absolute value encoder 100 is adapted to be fixedly connected with a motor 200, and includes a PCB substrate 10, a rotation angle measuring module 20 disposed on the PCB substrate 10, and a multi-stage gear transmission system 30 connected to the rotation angle measuring module 20; the rotation angle measuring module 20 is configured to measure an absolute position of a rotation angle, that is, the rotation angle measuring module 20 is configured to measure rotation angles of the gear transmission systems of the multiple stages of the gear transmission systems 30, and calculate a rotation angle of the motor 200 based on the rotation angles of the gear transmission systems of the multiple stages of the gear transmission systems 30; each stage of the multi-stage gear transmission system 30 includes a main transmission gear 31, a driven gear 32 and an anti-backlash mechanism 33 connected to the main transmission gear 31 and the driven gear 32, the anti-backlash mechanism 33 includes a threaded column 331 and a thin elastic body 332, the end of the threaded column 331 is connected to the rotation angle measuring module 20, the driven gear 32 and the main transmission gear 31 are sequentially connected to the threaded column 331 in a threaded manner, the main transmission gear 31 includes an upper gear 311 and a lower gear 312, the thin elastic body 332 is sleeved on the threaded column 331 and is disposed between the upper gear 311 and the lower gear 312, the upper gear 311 and the lower gear 312 are connected to the threaded column 331 in a threaded manner and form a staggered arrangement state, so as to reduce a gear transmission backlash when the main transmission gear 31 and the driven gear 32 are engaged, thereby achieving high-precision measurement of the rotation angle of the motor 200.

It should be understood that the rotation angle detected by the rotation angle measuring module 20 is the rotation angle of the rotation shaft.

It should be noted that, as shown in fig. 1, the multiturn absolute value magnetic encoder further includes an encoder housing 40, where the encoder housing 40 includes an upper housing 41 and a lower housing 42 adapted to the upper housing 41, the PCB substrate 10 is fixedly disposed on the upper housing 41, and the rotation angle measuring module 20 and the multi-stage gear transmission system 30 are disposed in a receiving groove defined by the upper housing 41 and the lower housing 42.

It should be noted that, as shown in fig. 1 and fig. 2, the multi-turn absolute value encoder 100 is disposed at the rear end of the motor 200, and specifically, the encoder housing 40 is fixedly connected to the casing of the motor 200.

It can be understood that the multi-turn absolute value encoder 100 adopts mechanical gear transmission and is purely mechanical position encoding, so that the encoder is not influenced by electrical and software problems and can realize absolute uniqueness of any position encoding; and need not to set up external power supply, do not receive the influence of system outage, also can not lose under the long-time outage or the inoperative condition coded data, have high stability and high reliability.

It can also be understood that each stage of the multi-stage gear transmission system 30 is provided with the anti-backlash mechanism 33, and specifically, the staggered tooth arrangement between the upper gear 311 and the lower gear 312 is realized by screwing the upper gear 311 and the lower gear 312 of the main transmission gear 31 to the threaded column 331, so that the gear transmission backlash can be effectively compensated during gear transmission, thereby being beneficial to realizing high-precision measurement of the rotation angle. In other words, the anti-backlash mechanism 33 is a thread anti-backlash mechanism 33, which can effectively reduce the pinion transmission clearance when gears are meshed, thereby realizing high-precision measurement of the rotation angle.

Further, the multi-stage gear transmission system 30 further comprises a locking nut 333, wherein the locking nut 333 is disposed on the main transmission gear 31 and is in threaded connection with the threaded column 331, and is used for compression locking the upper gear 311 and the lower gear 312 of the main transmission gear 31.

Specifically, when the multistage gear transmission system 30 is assembled, the driven gear 32 and the main transmission gear 31 are sequentially installed in the threaded column 331, wherein the thin elastic body 332 is arranged between the upper gear 311 and the lower gear 312 of the main transmission gear 31, and the gear teeth between the upper gear 311 and the lower gear 312 are staggered by a small angle to compensate for a transmission gap, and finally the lock nut 333 is tightened to tightly lock the upper gear 311 and the lower gear 312, so that when the lock nut 333 tightly presses the upper gear 311 and the lower gear 312, the thin elastic body 332 is deformed to generate a resilience force, and the resilience force can increase the friction force among the lock nut 333, the upper gear 311 and the lower gear 312, thereby achieving an effective anti-loosening effect. Finally, the upper gear 311 and the lower gear 312 are in a staggered state, and the thin elastic body 332 between the upper gear 311 and the lower gear 312 is in a deformed state. It can be understood that the gap between the staggered teeth of the upper gear 311 and the lower gear 312 of the main transmission gear 31 can be adjusted according to the actual assembly condition to meet the requirement of transmission precision, and the locking nut 333 is locked after the transmission gap is adjusted.

In particular, as shown in fig. 5, the thin elastic body 332 has a wavy structure and is made of a flexible ABS plastic material. When the thin elastic body 332 is stressed, the stress points on the two sides of the thin elastic body 332 are uniformly distributed and are not in the same position, and the stress points on the two sides of the thin elastic body 332 are symmetrically, uniformly and alternately distributed, so that a larger deformation force can be provided, namely, compared with a common spring washer, the wavy structure of the thin elastic body 332 has higher rigidity, deformation consistency and stress uniformity.

Thus, many rings of absolute value magnetic encoder adopts wavy structure slim elastomer 332 is favorable to guaranteeing overall structure's stability to be favorable to guaranteeing many rings of absolute value magnetic encoder's anti-vibration ability and corner measurement's high accuracy.

It is worth mentioning that the ABS plastic (Acrylonitrile Butadiene Styrene plastic) is a terpolymer of three monomers of Acrylonitrile (a), Butadiene (B) and Styrene (S), so that the ABS plastic has the common properties of the three components, the Acrylonitrile (a) makes it resistant to chemical corrosion and heat and has a certain surface hardness, the Butadiene (B) makes it have high elasticity and toughness, and the Styrene (S) makes it have the processing and forming characteristics of thermoplastic plastics and improves the electrical properties.

It is understood that the gear set of each gear system of the multi-stage gear system 30 is a duplicate gear, i.e. the main driving gear 31 and the driven gear 32 are connected to the threaded column 331 at the same time. Specifically, the multistage gear transmission system 30 is assembled in the following manner: gluing the lower gear 312 of the main transmission gear 31 on the threaded column 331; sleeving the thin elastic body 332, sleeving the upper gear 311, screwing the locking nut 333 in the thread direction of the thread column 331, adjusting the staggered tooth amount between the upper gear 311 and the lower gear 312 before locking, and simultaneously ensuring that the upper gear 311 and the lower gear 312 can be normally meshed with the driven gear 32; then, the thin elastic body 332 is compressed after the locking nut 333 is tightened, so that anti-loose friction force is generated. Finally, the driven gear 32 and the related bearing 35 are glued, and at this time, the main transmission gear 31, the thread anti-backlash mechanism 33, the driven gear 32 and the related bearing 35 form a duplex gear rotating shaft which can be integrally installed in an encoder shell 40 of the multi-turn absolute value magnetic encoder in a modularized mode.

It should be mentioned that the driven gear 32 is a spur gear, and is engaged with the main transmission gear 31, and by the staggered teeth arrangement of the upper gear 311 and the lower gear 312 of the main transmission gear 31, the gapless transmission between the driven gear 32 and the main transmission gear 31 is realized, so as to ensure the rotation angle measurement accuracy of the multi-turn absolute value magnetic encoder.

In particular, in the preferred embodiment of the present invention, the multi-stage gear system 30 is a three-stage gear system, each stage has 16 gear ratios, each stage has two reduction gears, and finally, the implementation 2 is achieved¹²Circle count (4096 circles) but is not limited to this, can design multistage speed reduction and realize different number of circles count according to different sizes and different user demands, that is to say, in some embodiments of the utility model, according to actual demand, many circles absolute value magnetic encoder also can adopt multistage gear drive system 30 more than tertiary, the utility model discloses do not do the restriction to this.

It is worth mentioning that in this preferred embodiment of the utility model, multistage gear drive system 30 mainly adopts 3 kinds of gears, and the number of teeth is 15, 30, 60 respectively, and the gear modulus is the same, and the same number of teeth and the same structure's gear can realize exchanging wantonly, is favorable to reduction in production cost and the assembly degree of difficulty.

Furthermore, it is worth mentioning that the backlash elimination mechanism 33 of the multi-stage gear transmission system 30 is not limited to be applied to the field of sensors, and is also applicable to various application scenes of small loads and small spaces, and the present invention does not limit this.

Further, the rotation angle measuring module 20 includes a sensor group 21 and a magnetic group 22 corresponding to the sensor group 21, the sensor group 21 includes a plurality of hall sensors 211, the hall sensors 211 are disposed on the PCB substrate 10, the magnetic group 22 includes a plurality of magnetic poles 221, the magnetic poles 221 correspond to the hall sensors 211 one by one, and the magnetic poles 221 are disposed at the ends of the threaded columns 331.

It should be noted that the magnetic assembly 22 further includes a plurality of magnetic pole holders 222, and the magnetic poles 221 are disposed in the corresponding magnetic pole holders 222. In this preferred embodiment of the present invention, the magnetic pole 221 may be fixed in the magnetic pole seat 222 by gluing.

It should be noted that the pole holder 222 is connected to one end of the corresponding threaded post 331, and the bearing 35 is mounted on the other end of the threaded post 331.

Specifically, in the preferred embodiment of the present invention, the sensor group 21 includes four hall sensors 211, the magnetic group 22 includes four magnetic poles 221, the hall sensors 211 are respectively disposed opposite to the corresponding magnetic poles 221, as shown in fig. 6, each hall sensor 211 detects an absolute position of the corresponding magnetic pole 221, and the rotation angle measuring module 20 calculates and outputs absolute position code information of a rotation angle based on four sets of data.

More specifically, four hall sensors 211 are disposed on the PCB substrate 10, small magnets magnetized in the radial direction are installed at the rear output shaft of the motor 200 and the end of the screw post 331 of the three-stage gear transmission system, that is, the magnetic poles 221 are installed, the positions of the magnetic poles 221 correspond to the hall sensors 211 one by one, and the rotation angles of the magnetic poles 221 are measured by the hall sensors 211, so that the rotation angle of the motor 200 is calculated based on the obtained rotation angles of the magnetic poles 221.

Further, as shown in fig. 7 to 10, a specific structure of the encoder housing 40 of the multi-turn absolute value encoder 100 is illustrated. As shown in fig. 7 and 8, the upper casing 41 of the encoder casing 40 is provided with two positioning columns 411 and two wire routing holes 412, the wire routing holes 412 are used for routing wires, the PCB substrate 10 is provided with two corresponding positioning holes 101, and the PCB substrate 10 and the upper casing 41 are fixedly connected by being buckled between the positioning columns 411 and the positioning holes 101, that is, the PCB substrate 10 is mounted on the upper casing 41 by means of buckling and fixing. Specifically, the design has opening 4111 on the reference column 411, and the end is the awl cap structure, go up casing 41 with the reference column 411 is aimed at PCB base plate 10 the mode of locating hole 101 is overcome the resistance of awl cap 4112 and is impressed, when impressing completely behind PCB base plate 10, awl cap 4112 can prevent PCB base plate 10 is not hard up to fall out. The positioning column 411 of the upper housing 41 is used for fixing the PCB substrate 10, and is used for positioning the PCB substrate 10, so as to prevent the hall sensor 211 from deviating from the magnetic pole 221, and thus the calculation is more accurate.

As shown in fig. 9 and 10, the lower housing 42 of the encoder housing 40 is provided with a bearing mounting hole 421, a mounting hole 422 and a lower housing spigot 423, the lower housing 42 is mounted at the rear end of the motor 200 through the mounting hole 422, the bearing mounting hole 421 is used for mounting the bearing 35, and the wire routing hole 412 is used for routing wires. When the multi-turn absolute value encoder 100 is installed on the motor 200, the lower housing 42 is installed at the rear end of the motor 200, the multi-stage gear transmission assembly is installed in the lower housing 42, and finally the upper housing 41 module formed by the PCB substrate 10 and the upper housing 41 is connected with the lower housing 42 module formed by the multi-stage gear transmission assembly and the lower housing 42, for example, the multi-stage gear transmission assembly and the lower housing 42 are fixedly connected by potting adhesive to form an encoder whole body which can be used in match with the motor 200.

It can be understood that, the utility model provides a have gear backlash mechanism 33 many rings of absolute value magnetic encoder is applied to multiple application fields such as can be applied to lathe, robot, elevator, as an angle measurement sensor, integrated gear train backlash transmission system has realized low-cost high accuracy and has measured. And furthermore many rings of absolute value magnetic encoder gear among the multistage gear drive system 30 can be through the injection moulding of mould ization, and the uniformity is good, and interchangeability is high, greatly reduced design cost and maintenance cost. The main transmission gear 31 is designed in a split type, and a transmission gap adjustable mechanism is realized by the staggered tooth arrangement of an upper gear and a lower gear and the cooperation of the thin elastic body 332 and the locking nut 333. In addition, the thin elastic body 332 is arranged in a wave-shaped structure, high rigidity and large deformation can be realized, the stress is uniform, the gear thread clearance eliminating mechanism 33 occupies a small space, and the thin elastic body is suitable for the application occasions of small loads and small spaces and is not limited to the field of sensors.

In general, the multi-circle absolute value magnetic encoder of the utility model adopts gear transmission, and the pure mechanical position encoding is not influenced by the problems of electricity and software, so that the absolute uniqueness of the encoding at any position can be realized; an external power supply is not needed, the influence of system power failure is avoided, data cannot be lost even if the power is cut off for a long time or does not work, and the stability and the reliability are high; in addition, the gear transmission also adopts a thread anti-backlash mechanism 33, so that the transmission clearance can be effectively reduced, and the high-precision measurement of the magnetic encoder is realized.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A multi-turn absolute value magnetic encoder is suitable for being fixedly connected with a motor and is characterized by comprising a PCB (printed circuit board) substrate, a rotation angle measuring module arranged on the PCB substrate and a multi-stage gear transmission system connected with the rotation angle measuring module; the rotation angle measuring module is used for detecting rotation angles of all levels of gear transmission systems of the multi-level gear transmission system and calculating the rotation angles of the motor based on the rotation angles of all levels of gear transmission systems of the multi-level gear transmission system; each stage of gear transmission system in the multi-stage gear transmission system comprises a main transmission gear, a driven gear and a gap eliminating mechanism for connecting the main transmission gear and the driven gear, the anti-backlash mechanism comprises a threaded column and a thin elastic body, the threaded column and the tail end of a rear output shaft of the motor are both connected with the corner measuring module, the driven gear and the main transmission gear are sequentially in threaded connection with the threaded column, the main transmission gear comprises an upper gear and a lower gear, the thin elastic body is sleeved on the threaded column and is arranged between the upper gear and the lower gear, the upper gear and the lower gear are in threaded connection with the threaded columns and form a staggered tooth arrangement state, so as to reduce the pinion drive clearance when meshing between the main drive gear and the driven gear, thereby achieving high-precision measurement of the rotation angle.

2. The multi-turn absolute magnetic encoder of claim 1, wherein the anti-backlash mechanism further comprises a lock nut disposed above the primary drive gear and threadedly coupled to the threaded post for compression locking the upper and lower gears of the primary drive gear.

3. The multi-turn absolute value magnetic encoder according to claim 2, wherein the rotation angle measuring module comprises a sensor group and a magnetic group corresponding to the position of the sensor group, the sensor group comprises a plurality of hall sensors, the hall sensors are arranged on the PCB substrate, the magnetic group comprises a plurality of magnetic poles, the magnetic poles correspond to the position of the hall sensors one by one, and the magnetic poles are arranged at the tail end of the threaded column.

4. The multi-turn absolute value magnetic encoder according to claim 3, wherein the sensor group includes four hall sensors, the magnetic group includes four magnetic poles, the hall sensors are respectively disposed opposite to the corresponding magnetic poles, each hall sensor detects an absolute position of the corresponding magnetic pole, and the rotation angle measuring module outputs absolute position encoding information of a rotation angle based on four sets of data calculation.

5. The multi-turn absolute value magnetic encoder of claim 3, wherein the magnetic group further comprises a plurality of pole holders, the poles being disposed within the corresponding pole holders.

6. A multi-turn absolute value magnetic encoder according to any of claims 1 to 5, wherein the multi-stage gear system is a three stage gear system, each stage having a gear ratio of 16.

7. A multi-turn absolute value magnetic encoder according to any of claims 1 to 5, wherein the driven gears are spur gears.

8. A multi-turn absolute value magnetic encoder according to any of claims 1-5, wherein the thin elastomer is of undulating construction and is made of flexible ABS plastic material.

9. A multi-turn absolute value magnetic encoder according to any of claims 1 to 5, further comprising an encoder housing, wherein the encoder housing comprises an upper housing and a lower housing adapted to the upper housing, the PCB substrate is fixedly disposed on the upper housing, and the rotation angle measuring module and the multi-stage gear transmission system are disposed in a receiving groove defined by the upper housing and the lower housing.