CN214372241U - Angle measuring device - Google Patents

Abstract

The utility model relates to a motion control encoder technical field specifically discloses an angle measuring device. The device comprises a rotating component and a magnetic detection component; the rotating assembly comprises a rotating shaft, and a magnetic scale arranged spirally is arranged on the periphery of the rotating shaft; the magnetism detection assembly is arranged on the excircle of the rotating assembly along the axial direction of the rotating shaft in a non-contact manner, the magnetism detection assembly is used for carrying out signal detection on the magnetic scale, the sensitive direction of the magnetism detection assembly is the same as the interval direction of the magnetic scale or the thickness direction of the magnetic scale, and the rotating period of the rotating shaft corresponds to the signal detection period of the magnetism detection assembly. The device can directly utilize the magnetic detection assembly to measure the rotation angle of the magnetic scale through the magnetic scale arranged as the permanent magnet, thereby avoiding the problem of poor measurement precision caused by distortion of magnetic field distribution and improving the measurement precision of the angle measurement device.

Description

Angle measuring device

Technical Field

The utility model relates to a motion control encoder technical field especially relates to an angle measuring device.

Background

In the prior art, the rotation control field mainly adopts an angle encoder to perform position encoding, and the angle encoder mainly adopts sensors related to the principles of optical effect, magnetoelectric effect, capacitance effect, electromagnetic induction and the like. The magnetic angle encoder adopting the magnetoelectric effect sensor has the advantages of vibration resistance, oil stain resistance, corrosion resistance and the like, and is adopted in more and more fields at present.

In industrial practical application, the angle encoder is divided into an incremental encoder and an absolute value encoder, a single-ring absolute value encoder can be divided into an axial type and an off-axis type according to the installation mode, the axial type means that a magnet and an angle sensor are arranged at one end of an axis along the axis, and most of the existing servo encoders adopt the design; in some applications, however, the axial position does not allow for the addition of components, and only off-axis mounting, i.e. side-mounted, i.e. the angle sensor and magnet are mounted outside the shaft, is possible.

At present, the off-axis magnetic sensor mainly comprises a gear and a magnetic ring, the gear or the magnetic ring is arranged on a motor shaft or a synchronizing shaft, when the gear or the magnetic ring rotates along with the motor, a magnetic field signal at the position of the angle sensor can synchronously change, an output signal of the angle sensor changes along with the change of the magnetic field signal, and the output signal is decoded to obtain angle information.

In the prior art, an external component such as a gear or a magnetic ring is often mounted on a shaft and a magnetic field is applied to the external component for detection, which may cause distortion of the magnetic field distribution at certain angles and affect the angle measurement accuracy.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an angle measuring device can effectively avoid the uneven shortcoming of magnetic field distribution, improves the measuring precision.

To achieve the purpose, the utility model adopts the following technical proposal:

an angle measuring device comprising: a rotating assembly and a magnetic detection assembly; the rotating assembly comprises a rotating shaft, and a magnetic scale arranged spirally is arranged on the periphery of the rotating shaft; the magnetism detection assembly sets up non-contact the runner assembly is followed on the excircle of axis of rotation axial direction, magnetism detection assembly is used for right the magnetic scale carries out signal detection, magnetism detection assembly's sensitive direction with the interval direction of magnetic scale or the thickness direction of magnetic scale is the same, the rotation cycle of axis of rotation with magnetism detection assembly's signal detection cycle corresponds.

And the magnetizing direction of the magnetic scale is the same as the thickness direction of the magnetic scale.

Further, the angle measuring device further comprises a fixed seat, and the rotating assembly is installed on the fixed seat.

Furthermore, the magnetic detection assembly is fixedly installed on the fixed seat.

Preferably, the magnetic scale is made of a permanent magnetic powder and an organic compound material.

Preferably, the permanent magnetic powder is any one of ferrite, neodymium iron boron, cobalt ferrite or alnico.

Preferably, the organic substance is plastic or rubber.

Preferably, the magnetic detection assembly comprises N magnetosensitive elements, where N is a positive even number; the N magneto-sensitive elements are sequentially arranged along the axis direction of the rotating shaft, the distance between the N magneto-sensitive elements and the magnetic scale is matched, the sensitive directions of the magneto-sensitive elements are the same and are vertical or parallel to the axial direction of the rotating shaft, and the N magneto-sensitive elements form a bridge circuit.

Preferably, the bridge circuit is a full bridge circuit or a half bridge circuit.

Preferably, the angle measuring device further includes: the power supply chip and the signal conditioning chip; the output end of the power supply chip is respectively and electrically connected with the power supply end of the bridge circuit and the power supply end of the signal conditioning chip; the output end of the bridge circuit is electrically connected with the input end of the signal conditioning chip; and the output end of the signal conditioning chip outputs a magnetic induction electric signal.

The utility model has the advantages that:

this angle measuring device can directly utilize magnetism detection component to measure the rotation angle of magnetic scale through setting up the magnetic scale into the permanent magnet to avoided appearing the poor problem of measurement accuracy that the distortion leads to because of magnetic field distribution, improved angle measuring device's measurement accuracy.

Drawings

Fig. 1 is a schematic partial structural diagram of a magnetic detection assembly and a rotating shaft provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an angle measuring device according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a partial internal structure of a magnetic detection assembly and a positional relationship between the magnetic detection assembly and a rotating shaft according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a partial internal structure of another magnetic detection assembly and a positional relationship between the magnetic detection assembly and a rotating shaft according to an embodiment of the present invention;

fig. 5-8 are schematic diagrams illustrating an angle measurement principle of an angle measurement device according to an embodiment of the present invention; fig. 9 is a schematic diagram of an internal circuit structure of a magnetic detection assembly in an angle measuring apparatus according to an embodiment of the present invention.

In the figure:

101. a rotating shaft; 102. a hand wheel; 103. a magnetic scale; 104. a magnetic detection component; 105. a cable; 106. a fixed seat; 108. a sensing surface;

300. a bridge circuit; 301. a bridge circuit power supply terminal; 302. an output end of the bridge circuit; 303. a magneto-sensitive element; 304. a magneto-sensitive element; 305. a magneto-sensitive element; 306. a magneto-sensitive element;

400. a power supply chip; 401. a power supply chip output end; 500. a signal conditioning chip; 501. a power supply end of the signal conditioning chip; 502. an input end of the signal conditioning chip; 503. and a signal conditioning chip output end.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; 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 in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Fig. 1 is a schematic partial structural diagram of a magnetic detection assembly 104 and a rotating shaft 101 provided in an embodiment of the present invention, and referring to fig. 1, the angle measurement apparatus includes: a rotating assembly and a magnetic detection assembly 104, wherein the rotating assembly comprises a rotating shaft 101, and the periphery of the rotating shaft 101 is provided with a magnetic scale 103 which is spirally arranged; the magnetic detection component 104 is arranged on the excircle of the rotating component along the axial direction of the rotating shaft 101 in a non-contact manner, the magnetic detection component 104 is used for detecting signals of the magnetic scale 103, the sensitive direction of the magnetic detection component 104 is the same as the spacing direction of the magnetic scale 103 or the thickness direction of the magnetic scale 103, and the rotating period of the rotating shaft 101 corresponds to the signal detection period of the magnetic detection component 104. The angle measuring device can directly utilize the magnetic detection component 104 to measure the rotation angle of the magnetic scale 103 through the magnetic scale 103 which is arranged as the permanent magnet, thereby avoiding the problem of poor measurement precision caused by distortion of magnetic field distribution and improving the measurement precision of the angle measuring device.

Preferably, the magnetizing direction of the magnetic scale 103 is the same as the thickness direction of the magnetic scale 103, and the same direction arrangement can ensure the accuracy of the detection result of the magnetic detection assembly 104, thereby improving the detection effect.

For example, in practical applications, the rotating shaft 101 may be a spindle of a motor, and the rotating assembly further includes other components for driving the rotating shaft 101 to rotate, which will not be described herein. It should be noted that fig. 1 only shows the structure of the rotating shaft 101, and does not show other structures in the rotating assembly, and the rotating assembly can be any device including a rotatable shaft, and the measurement of the rotation angle of the central shaft of the device can be performed by using the angle measuring device provided by the embodiment of the present invention, and the embodiment of the present invention does not limit the specific product of the rotating assembly.

Illustratively, the magnetic detection assembly 104 has a magnetic sensing element sensitive to a change in a magnetic field, and when the rotating shaft 101 changes the magnetic field on the magnetic scale 103 due to rotation, the magnetic detection assembly 104 can determine the rotation angle of the rotating shaft 101 according to the detected change in the magnetic field. For convenience of description, fig. 1 exemplarily shows a top plan view of the magnetic detection assembly 104 and the rotating shaft 101 in a direction parallel to the axial direction of the rotating shaft 101, wherein a surface of the magnetic detection assembly 104 closest to the magnetic scale 103 is a sensing surface 108 of the magnetic detection assembly 104, and a change of the magnetic field of the magnetic scale 103 can be sensed. When the rotating shaft 101 rotates, the magnetic scale 103 adjacent to the sensing surface 108 moves in the direction same as or opposite to the direction indicated by the arrow J in the figure, in other words, the magnetic scale 103 or the gap between the magnetic scales 103 at a certain position of the magnetic scale 103 moves linearly relative to the magnetic detection assembly 104, and the magnetic detection assembly 104 can read the movement distance of the magnetic scale 103 or the gap between the magnetic scales 103, thereby calculating the rotation angle of the rotating shaft 101. It can be understood that, because the linear relationship is formed between the distance of the linear movement of the magnetic scale 103 or the gap between the magnetic scales 103 and the rotation angle of the rotating shaft 101, the relative position relationship between the magnetic scale 103 or the gap between the magnetic scales 103 and the magnetic detection component 104 changes periodically, so that the output signal of the magnetic detection component 104 changes periodically, that is, the signal detection period of the magnetic detection component 104 corresponds to the rotation period of the rotating shaft 101, the rotating shaft 101 rotates one cycle, the magnetic detection component 104 outputs a signal of one cycle, and the rotation angle of the rotating shaft 101 can be determined according to the output signal of the magnetic detection component 104.

It should be noted that the purpose of setting the sensitive direction of the magnetic detection component 104 perpendicular to or parallel to the axial direction of the rotating shaft 101 is to enable the magnetic detection component 104 to detect the change of the magnetic field caused by the rotation of the rotating shaft 101, so that the change of the magnetic field can be converted into the change of the electrical signal to be output, and the measurement of the rotating angle of the rotating shaft 101 is realized.

The embodiment of the utility model provides an in, set up magnetic scale 103 through the periphery at axis of rotation 101, set up magnetism detection subassembly 104 non-contact on the runner assembly along axis of rotation 101 axial direction's excircle, utilize magnetism detection subassembly 104 to detect the rotation angle of axis of rotation 101, avoided carrying out the problem that measurement accuracy is low that angle measurement brought through installation gear or magnetic ring on axis of rotation 101 among the prior art, realized improving measurement accuracy's effect.

Fig. 2 is a schematic structural diagram of an angle measuring device according to an embodiment of the present invention, exemplarily showing a three-dimensional structural diagram of an angle measuring device, referring to fig. 2, on the basis of the above embodiment, optionally, the device further includes a fixing base 106, and the rotating assembly is installed on the fixing base 106.

Through installing rotating assembly on fixing base 106, can rotating assembly more stable when axis of rotation 101 is rotatory, as shown in fig. 2, rotating assembly can also include hand wheel 102, and hand wheel 102 is connected with axis of rotation 101, can drive axis of rotation 101 rotatory through rocking hand wheel 102.

With continued reference to fig. 2, further optional, the magnetic sensing assembly 104 is fixedly mounted to the mounting block 106.

By installing the magnetic detection assembly 104 and the rotating assembly on the fixing base 106, the angle measuring device can be more stable, and the integration level of the angle measuring device is improved. The signal detection result of the magnetic detection element 104 can be output to an external terminal device through the cable 105, so that the terminal device can acquire the rotation angle of the rotating shaft 101.

Alternatively, the shape of the cross section of the magnetic scale 103 includes any one of a rectangle, a trapezoid, and a zigzag.

The shape setting of magnetic scale 103 section can be set for by oneself according to actual demand, the embodiment of the utility model provides a do not limit to this. In the following description, an exemplary rectangular magnetic scale 103 is described as an example.

Fig. 3 is a schematic diagram of a partial internal structure of a magnetic detection assembly 104 and a positional relationship with a rotation axis 101 provided in an embodiment of the present invention, and fig. 4 is a schematic diagram of a partial internal structure of another magnetic detection assembly 104 and a positional relationship with a rotation axis 101 provided in an embodiment of the present invention. Referring to fig. 3 or 4, optionally, the magnetic sensing assembly 104 includes N magnetosensitive elements, where N is a positive even number; the magnetic detection component 104 is opposite to the magnetic scale 103; the N magnetosensitive elements are sequentially arranged along the axial direction of the rotating shaft 101 (for example, N is 4, the magnetosensitive elements are sequentially marked as 303 to 306), the distance between the N magnetosensitive elements is matched with the magnetic scale 103, the sensitive directions of the magnetosensitive elements are the same and perpendicular to or parallel to the axial direction of the rotating shaft 101, and the N magnetosensitive elements form a bridge circuit 300 (a circuit connection mode is not shown in the figure).

Optionally, the magnetic scale 103 is made of a composite material of permanent magnetic powder and organic matter, the permanent magnetic powder is any one of ferrite, neodymium iron boron, cobalt ferrite or alnico, and the organic matter is plastic or rubber.

Optionally, the bridge circuit 300 is a full bridge circuit or a half bridge circuit.

When the bridge circuit 300 is formed by the magnetic sensors, the change in the electrical properties of each magnetic sensor can be determined from the output signal of the bridge circuit 300, and thus the change in the magnetic field of the magnetic scale 103 can be determined, and the rotation angle of the rotary shaft 101 can be determined. Illustratively, the bridge circuit 300 may be a full bridge circuit or a half bridge circuit, both of which may implement this function. Since the signal output performance of the full-bridge circuit is better and the magnitude of the output voltage can be increased, the principle that the magnetic detection component 104 detects the rotation angle of the rotating shaft 101 is described by taking the full-bridge circuit as an example.

Illustratively, in fig. 3, the magnetic scale 103 is arranged along the X-axis direction in the figure and moves spirally along the X-axis direction. On the surface of the magnetic detection assembly 104 facing the magnetic scale 103, there are four magnetic sensing elements, which are respectively marked as 303, 304, 305 and 306, the pitch of the four magnetic sensing elements matches with the pitch, and if the pitch of two adjacent magnetic sensing elements is a, the pitch of the magnetic scale 103 is 4 a. The four magnetic sensors have the same sensitivity direction, and are all along the Z-axis or X-axis direction in the figure, and the distance from the magnetic sensors to the magnetic scale 103 is L, so that the magnetic scale can be set by self. The magneto- sensitive elements 303 and 305 form a first bridge circuit and the magneto- sensitive elements 304 and 306 form a second bridge circuit, it being understood that the first and second bridge circuits are 90 out of phase.

In fig. 4, the magnetic scale 103 is arranged along the X-axis direction in the figure and moves spirally along the X-axis direction. On the surface of the magnetic detection assembly 104 facing the magnetic scale 103, there are four magnetic sensing elements, which are respectively marked as 303, 304, 305 and 306, the pitch of the four magnetic sensing elements matches with the pitch, and if the pitch of two adjacent magnetic sensing elements is a, the pitch of the magnetic scale 103 is 4 a. The four magnetic sensing elements have the same sensitivity direction, and are all along the Z-axis or X-axis direction in the figure, and the distance from the magnetic sensing elements to the magnetic scale 103 is L. The magneto-sensitive element 303 and the magneto-sensitive element 305 form a first bridge circuit, the magneto-sensitive element 304 and the magneto-sensitive element 306 form a second bridge circuit, and the first and second bridge circuits are 90 ° out of phase.

It should be noted that the magnetic sensors are disposed on the circuit board to form the bridge circuit 300, and the sensing direction of each magnetic sensor is perpendicular or parallel to the axial direction of the rotating shaft 101 to sense the magnetic scale 103 or the change of the gap between the magnetic scales 103 at the corresponding position.

Fig. 5 to 8 are schematic diagrams illustrating an angle measurement principle of an angle measurement apparatus according to an embodiment of the present invention, taking the magnetic sensor as an example to form a full bridge circuit, and respectively showing changes in output signals of the bridge circuit 300 formed by the magnetic sensor when the magnetic scale 103 is located at different positions. Referring to fig. 5-8, R1 and R2 correspond to the magnetic sensing element 303 and the magnetic sensing element 305, respectively, to form a first half-bridge circuit, R3 and R4 correspond to the magnetic sensing element 304 and the magnetic sensing element 306, respectively, to form a second half-bridge circuit, and V1 and V2 are output voltages of the first half-bridge circuit and the second half-bridge circuit, respectively. For convenience of illustration, the sensitive directions of the four magnetic sensing elements are all the directions indicated by arrows K in the figure, which correspond to the Z-axis direction in fig. 3 and 4.

Referring to fig. 5, it is assumed that when the magnetic scale 103 is located at the first position, R1 faces the magnetic scale 103, R2 faces the gap between the magnetic scale 103, and R3 and R4 face the boundary between the magnetic scale 103 and the gap, when R1 reaches the minimum resistance value, R2 reaches the maximum resistance value, and R3 and R4 are both median resistance values. According to the half-bridge circuit configuration, V1 is the maximum voltage value, V2 is 0, and the voltage values of V1 and V2 in the whole cycle are shown as a and B in the figure, wherein the abscissa is the motion position and the ordinate is the output voltage.

Referring to fig. 6, after the magnetic scale 103 rotates 90 °, R1 and R2 face the boundary between the magnetic scale 103 and the gap, R3 face the magnetic scale 103, and R4 faces the gap between the magnetic scale 103, where both R1 and R2 are median resistance values, R3 reaches the minimum resistance value, and R4 reaches the maximum resistance value. According to the half-bridge circuit configuration, V1 is 0, and V2 is the maximum voltage value, and the voltage values of V1 and V2 in the whole cycle are shown as C and D in the figure, wherein the abscissa is the motion position and the ordinate is the output voltage.

Referring to fig. 7, after the magnetic scale 103 rotates 180 °, R1 faces the gap between the magnetic scales 103, R2 faces the magnetic scale 103, and R3 and R44 face the boundary between the magnetic scale 103 and the gap, at which time R1 reaches the maximum resistance value, R2 reaches the minimum resistance value, and R3 and R4 are both median resistance values. According to the half-bridge circuit configuration, V1 is the minimum voltage value, V2 is 0, and the voltage values of V1 and V2 in the whole cycle are shown as E and F in the figure, where the abscissa is the motion position and the ordinate is the output voltage.

Referring to fig. 8, after the magnetic scale 103 rotates 270 °, R1 and R2 face the boundary between the magnetic scale 103 and the gap, R3 face the gap between the magnetic scale 103, and R4 faces the magnetic scale 103, where R1 and R2 are both median resistance values, R3 reaches the maximum resistance value, and R4 reaches the minimum resistance value. According to the half-bridge circuit configuration, V1 is 0, and V2 is the maximum voltage value, where V1 and V2 have the voltage values throughout the cycle as shown by G and H in the figure, where the abscissa is the motion position and the ordinate is the output voltage.

It can be understood that when the magnetic scale 103 rotates 360 °, it will return to the first position, where R1 faces the magnetic scale 103, R2 faces the gap between the magnetic scale 103, and R3 and R4 face the boundary between the magnetic scale 103 and the gap, and the voltage values of V1 and V2 in the whole period are shown as a and B in fig. 5.

As can be seen from fig. 5 to 8, when the position of the magnetic scale 103 is moved for one cycle, the output voltage of the magnetosensitive element is changed for one cycle, and the signal has uniqueness within one cycle. By using the inverse trigonometric function calculation formula, the arbitrary distance moved by the magnetic scale 103 can be calculated according to the change of the output voltage signal, and further, the arbitrary rotation angle of the rotating shaft 101 can be calculated.

In fig. 5 to 8, the magneto-sensitive elements are all represented by resistance elements sensitive to a magnetic field, and when the magnetic field changes, the resistance value of the magneto-sensitive resistor changes, and the output signal changes. In an actual product, the magnetic sensing element may be another element sensitive to a magnetic field, and each bridge arm of the bridge circuit 300 may also be a combination of a plurality of magnetic sensing elements, which is not limited in the embodiment of the present invention.

It should be noted that, when the sensing direction of the magnetic sensing element is the X-axis direction in fig. 3 and 4, the output signal of the magnetic detection assembly 104 is similar to that in fig. 5-8, but the phase difference is 90 degrees, and the purpose of measuring the rotation angle of the rotating shaft 101 can also be achieved, which is not described herein again.

Fig. 9 is a schematic diagram of an internal circuit structure of the magnetic detection assembly 104 in the absolute angle measuring apparatus according to the embodiment of the present invention, referring to fig. 9, optionally, the apparatus further includes: the power supply chip 400 and the signal conditioning chip 500, the power supply chip output end 401 of the power supply chip 400 is electrically connected with the bridge circuit power supply end 301 of the bridge circuit 300 and the signal conditioning chip power supply end 501 of the signal conditioning chip 500, the bridge circuit output end 302 of the bridge circuit 300 is electrically connected with the signal conditioning chip input end 502 of the signal conditioning chip 500, and the signal conditioning chip output end 503 of the signal conditioning chip 500 outputs a magnetic induction electric signal.

The output signal form of the signal conditioning chip 500 includes, but is not limited to, TTL/HTL signal, UVW signal, SIN/COS signal, and binary absolute angle signal, and any one or more of the above signals can be output through the signal conditioning chip 500, and those skilled in the art can select the type of the signal conditioning chip 500 according to actual requirements, which is not limited herein.

It should be noted that, in fig. 9, the power chip 400 and the signal conditioning chip 500 are exemplarily integrated on the same circuit board as the bridge circuit 300, and in other specific embodiments, the power chip 400 and the signal conditioning unit may also be separately provided, which is not limited herein.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (7)

1. An angle measuring device, comprising:

the rotating assembly comprises a rotating shaft (101), a magnetic scale (103) which is spirally arranged is arranged on the periphery of the rotating shaft (101), and the magnetic scale (103) is a permanent magnet;

magnetism detects subassembly (104), magnetism detects subassembly (104) non-contact ground sets up rotating assembly follows rotation axis (101) axial direction's excircle, magnetism detects subassembly (104) is used for right magnetic scale (103) carry out signal detection, the sensitive direction of magnetism detects subassembly (104) with the interval direction of magnetic scale (103) or the thickness direction of magnetic scale (103) is the same, the rotation cycle of rotation axis (101) with the signal detection cycle of magnetism detects subassembly (104) corresponds.

2. The angle measuring device according to claim 1, characterized in that the magnetizing direction of the magnetic scale (103) is the same as the thickness direction of the magnetic scale (103).

3. The angle measuring device of claim 2, further comprising a holder (106), the rotating assembly being mounted on the holder (106).

4. An angle measuring device according to claim 3, characterized in that the magnetic detection assembly (104) is fixedly mounted on the holder (106).

5. The angle measuring device according to any of claims 1-4, characterized in that the magnetic detection assembly (104) comprises N magneto-sensitive elements, where N is a positive even number;

the N magneto-sensitive elements are sequentially arranged along the axial direction of the rotating shaft (101), the distance between the N magneto-sensitive elements is matched with the magnetic scale (103), the sensitive directions of the magneto-sensitive elements are the same and are vertical or parallel to the axial direction of the rotating shaft (101), and the N magneto-sensitive elements form a bridge circuit (300).

6. Angle measuring device according to claim 5, characterized in that the bridge circuit (300) is a full bridge circuit or a half bridge circuit.

7. The angle measuring device of claim 5, further comprising: a power supply chip (400) and a signal conditioning chip (500);

the output end of the power supply chip (400) is respectively and electrically connected with the power supply end of the bridge circuit (300) and the power supply end of the signal conditioning chip (500);

the output end of the bridge circuit (300) is electrically connected with the input end of the signal conditioning chip (500);

the output end of the signal conditioning chip (500) outputs a magnetic induction electric signal.

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