CN220136269U

CN220136269U - Multi-code-channel magneto-electric encoder and camera equipment

Info

Publication number: CN220136269U
Application number: CN202321048527.2U
Authority: CN
Inventors: 吴海刚; 汪冬枝; 赵甍; 包马乾
Original assignee: Hangzhou Chenkong Intelligent Control Technology Co ltd
Current assignee: Hangzhou Chenkong Intelligent Control Technology Co ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-12-05
Anticipated expiration: 2033-04-28

Abstract

The embodiment of the utility model relates to the field of magnetoelectric encoders, and discloses a multi-code-channel magnetoelectric encoder and camera equipment, wherein the multi-code-channel magnetoelectric encoder comprises a main-code-channel magnetic ring and a travel-channel magnetic ring, the main-code-channel magnetic ring and the travel-channel magnetic ring are sequentially arranged along the axial direction (or the radial direction), the main-code-channel magnetic ring comprises a plurality of pairs of first magnetic poles, the travel-channel magnetic ring comprises a plurality of pairs of second magnetic poles, the pairs of second magnetic poles are different from the pairs of first magnetic poles, a plurality of first magnetic sensitive elements are arranged on the outer side of the main-code-channel magnetic ring along the radial direction (or the axial direction) of the main-code-channel magnetic ring, a plurality of second magnetic sensitive elements are arranged on the outer side of the travel-channel magnetic ring along the radial direction (or the axial direction) of the travel-channel magnetic ring, the main-channel magnetic ring and the travel-channel magnetic ring can rotate relative to the first magnetic sensitive elements and the second magnetic sensitive elements, the first magnetic sensitive elements and the second magnetic sensitive elements are respectively used for detecting the magnetic field angles of the main-channel magnetic ring and the travel-channel magnetic ring, and the magnetoelectric encoder realizes high-precision angle detection by arranging two code channels, and has smaller volume.

Description

Multi-code-channel magneto-electric encoder and camera equipment

Technical Field

The embodiment of the utility model relates to the field of magnetoelectric encoders, in particular to a multi-code-channel magnetoelectric encoder and camera equipment.

Background

The magneto-electric encoder, also called magnetic sensor and magnetic encoder, is an angle sensor, which can detect the position of magnetic material by using magneto-sensitive element, and convert the rotation information of rotor when moving into electric angle signal which can be used in industrial equipment to implement angle detection of equipment. The magneto-electric encoder has the advantages of strong anti-interference capability, low manufacturing cost and the like, and is widely applied to various fields.

In the process of implementing the embodiments of the present utility model, the inventors found that at least the following problems exist in the above related art: currently, the main current magnetoelectric encoder in the market is a single-pair electrode magnetoelectric encoder, but the single-pair electrode encoder generally has the problems of insufficient precision and larger volume, and is difficult to meet the requirements of the market on high precision and small volume of various angle detection devices or equipment.

Disclosure of Invention

The embodiment of the utility model provides a multi-code-channel magneto-electric encoder and camera equipment.

The aim of the embodiment of the utility model is realized by the following technical scheme:

in order to solve the above technical problem, in a first aspect, an embodiment of the present utility model provides a multi-code magneto-electric encoder, including: the main code channel magnetic ring and the code channel magnetic ring are sequentially arranged along the axial direction, the main code channel magnetic ring comprises a plurality of pairs of first magnetic poles, the code channel magnetic ring comprises a plurality of pairs of second magnetic poles, and the number of pairs of second magnetic poles is different from the number of pairs of first magnetic poles; the plurality of first magnetic sensors and the plurality of second magnetic sensors are arranged on the outer side of the main code channel magnetic ring along the radial direction of the main code channel magnetic ring, and the plurality of second magnetic sensors are arranged on the outer side of the code channel magnetic ring along the radial direction of the code channel magnetic ring; the main code channel magnetic ring and the travelling code channel magnetic ring can rotate relative to the first magnetic sensor and the second magnetic sensor, and the first magnetic sensor and the second magnetic sensor are respectively used for detecting magnetic field angles of the main code channel magnetic ring and the travelling code channel magnetic ring. In some embodiments, the main track magnetic ring and the run track magnetic ring have equal diameters, and the first pole has a pair of the second pole plus one, or the second pole has a pair of the first pole plus one. In some embodiments, the first magnetic sensor is disposed outside the second magnetic sensor along a radial direction of the main code track magnetic ring; and/or along the direction of the magnetic ring of the travelling code channel towards the magnetic ring of the main code channel, the first magnetic sensitive element protrudes out of the second magnetic sensitive element.

In order to solve the above technical problem, in a second aspect, an embodiment of the present utility model provides a multi-code magneto-electric encoder, including: the main code channel magnetic ring is sleeved outside the code channel magnetic ring, the main code channel magnetic ring comprises a plurality of pairs of first magnetic poles, the code channel magnetic ring comprises a plurality of pairs of second magnetic poles, and the number of pairs of second magnetic poles is different from the number of pairs of first magnetic poles; the first magnetic sensors are arranged on one side of the main code channel magnetic ring along the axial direction of the main code channel magnetic ring, and the second magnetic sensors are arranged on one side of the code channel magnetic ring along the axial direction of the code channel magnetic ring; the main code channel magnetic ring and the travelling code channel magnetic ring can rotate relative to the first magnetic sensor and the second magnetic sensor, and the first magnetic sensor and the second magnetic sensor are respectively used for detecting magnetic field angles of the main code channel magnetic ring and the travelling code channel magnetic ring. In some embodiments, the first magnetic sensor is disposed outside the second magnetic sensor along a radial direction of the main track magnetic ring, and the number of pairs of the first magnetic poles is one more than the number of pairs of the second magnetic poles, or the number of pairs of the second magnetic poles is one more than the number of pairs of the first magnetic poles.

In some embodiments, the plurality of first magnetic sensors are distributed at intervals along a ring shape, and the distance between each first magnetic sensor and the magnetic ring of the main code channel is equal; the second magnetic sensitive elements are distributed at intervals along the ring shape, and the distance between each second magnetic sensitive element and the magnetic ring of the travelling code channel is equal.

In some embodiments, the included angle between each two adjacent first magnetic sensors along the annular distribution satisfies the following relationship:

wherein θ ₁ Represents the included angle between two adjacent first magneto-sensitive elements, n ₁ Representing the logarithm of the first magnetic pole, j ₁ Representing the number of the first magneto-sensitive elements, wherein k is 0 or a positive integer; and/or

The included angles between every two adjacent second magnetic sensors along the annular distribution meet the following relation:

wherein θ ₂ Represents the included angle between two adjacent second magneto-sensitive elements, n ₂ Representing the logarithm of the second magnetic pole, j ₂ And k represents 0 or a positive integer, which represents the number of the second magneto-sensitive elements.

In some embodiments, the magnetic circuit further comprises a circuit board, the first magnetic sensor and the second magnetic sensor are fixed on the circuit board, and the main code track magnetic ring and the code track magnetic ring can rotate relative to the circuit board.

In some embodiments, the circuit board further comprises a first hall bracket and a second hall bracket, wherein the first hall bracket is fixed on the circuit board, and the first magneto-sensitive element is fixedly installed on the first hall bracket; and/or the circuit board is provided with a second Hall support, the second Hall support is fixed on the circuit board, and the second magneto-sensitive element is fixedly arranged on the second Hall support.

In order to solve the above technical problem, in a second aspect, an embodiment of the present utility model provides a camera device, including: a rotating shaft; the multi-code magnetic encoder according to the first aspect, wherein the main code magnetic ring and the free magnetic ring of the multi-code magnetic encoder are respectively fixed on the rotating shaft, the rotating shaft can rotate relative to a first magnetic sensor and a second magnetic sensor of the multi-code magnetic encoder, and the first magnetic sensor and the second magnetic sensor are used for detecting the rotation angle of the rotating shaft.

Compared with the prior art, the utility model has the beneficial effects that: in addition, the first magnetic pole and the second magnetic pole are different in the number of pairs, the first magnetic sensitive elements and the second magnetic sensitive elements are arranged on the outer side of the main code channel magnetic ring along the radial direction (or the axial direction) of the main code channel magnetic ring, the second magnetic sensitive elements are arranged on the outer side of the free code channel magnetic ring along the radial direction (or the axial direction) of the free code channel magnetic ring, the main code channel magnetic ring and the free code channel magnetic ring can rotate relative to the first magnetic sensitive elements and the second magnetic sensitive elements, the first magnetic sensitive elements and the second magnetic sensitive elements are used for detecting the magnetic code of the main code channel magnetic ring, and the first magnetic sensitive elements and the second magnetic sensitive elements are used for detecting the magnetic code of the main code channel magnetic ring and the free code channel magnetic ring respectively.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules, and in which the figures are not to be taken in a limiting sense, unless expressly stated otherwise.

FIG. 1 is a schematic three-dimensional structure of a multi-code magneto-electric encoder according to an embodiment of the present utility model;

FIG. 2 is a schematic top view of the multi-track magneto-electric encoder of FIG. 1;

FIG. 3 is a schematic three-dimensional structure of a main track magnetic ring and a run-away track magnetic ring in the multi-track magneto-electric encoder shown in FIGS. 1 and 2;

FIG. 4 is a schematic top view of another multi-track magneto-electric encoder according to an embodiment of the present utility model;

FIG. 5 is a schematic side view of the multi-track magneto-electric encoder of FIG. 4;

FIG. 6 is a schematic three-dimensional structure of a circuit board and electronic components disposed on the circuit board in the multi-track magneto-electric encoder of FIG. 4;

FIG. 7 is a schematic three-dimensional structure of a main track magnetic ring and a run-track magnetic ring in the multi-track magneto-electric encoder shown in FIG. 4;

FIG. 8 is a Hall element A on the main track _{Main unit} Hall element A on the code channel _{Swimming device} A waveform diagram of the generated hall signal;

FIG. 9 is a schematic diagram of an apparatus including the multi-track magneto-electric encoder shown in FIG. 1 according to a second embodiment of the present utility model;

FIG. 10 is a schematic view of the construction of a portion of the elements of the apparatus of FIG. 9;

FIG. 11 is a schematic diagram of an apparatus including the multi-track magneto-electric encoder shown in FIG. 4 according to a second embodiment of the present utility model;

description of the drawings: 10. a multi-code magneto-electric encoder; 11/11', a main code channel magnetic ring; 12. a magnetic ring of a code channel; 13. a first magneto-sensitive element; 14. a second magneto-sensitive element; 15. a circuit board; 16a, a first hall bracket; 16b, a second Hall bracket; 17. a microprocessor; 18. a connection terminal; 100. an apparatus; 20. a rotating shaft; 30. a fixed block; 40. a transmission device; 41. a rotating wheel; 42. a track; 43. driven wheel; 50. a stepping motor; 60. a housing; 70. and a conversion plate.

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It should be noted that, if not in conflict, the features of the embodiments of the present utility model may be combined with each other, which is within the protection scope of the present utility model. In addition, although functional block division is performed in the device schematic, in some cases, block division may be different from that in the device. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect. It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

In order to solve the problems that the precision of the current single-pair-pole magnetoelectric encoder is insufficient to meet the demands of markets or fields and the volume is large, the embodiment of the utility model provides a multi-code-channel magnetoelectric encoder and camera equipment.

In particular, embodiments of the present utility model are further described below with reference to the accompanying drawings.

Example 1

An embodiment of the present utility model provides a multi-code magneto-electric encoder 10, please refer to fig. 1 and 2, wherein fig. 1 shows a structure of the multi-code magneto-electric encoder provided by the embodiment of the present utility model, and fig. 2 is a top view of the multi-code magneto-electric encoder shown in fig. 1, and the multi-code magneto-electric encoder 10 includes: the magnetic track device comprises a main code track magnetic ring 11, a code track magnetic ring 12, a plurality of first magnetic sensitive elements 13 and a plurality of second magnetic sensitive elements 14. The main code track magnetic ring 11 and the travel code track magnetic ring 12 are sequentially arranged along the axial direction, the main code track magnetic ring 11 comprises a plurality of pairs of first magnetic poles, the travel code track magnetic ring 12 comprises a plurality of pairs of second magnetic poles, and the number of pairs of second magnetic poles is different from the number of pairs of first magnetic poles. The plurality of first magnetic sensors 13 are arranged on the outer side of the main code track magnetic ring 11 along the radial direction of the main code track magnetic ring 11, and the plurality of second magnetic sensors 14 are arranged on the outer side of the code track magnetic ring 12 along the radial direction of the code track magnetic ring 12.

The main code track magnetic ring 11 and the code track magnetic ring 12 can rotate relative to the first magnetic sensor 13 and the second magnetic sensor 14, and the first magnetic sensor 13 and the second magnetic sensor 14 are respectively used for detecting magnetic field angles of the main code track magnetic ring 11 and the code track magnetic ring 12. Specifically, the first magnetic sensor 13 is configured to output a first residual angle when axially rotating relative to the main track magnetic ring 11, the second magnetic sensor 14 is configured to output a second residual angle when axially rotating relative to the run-length magnetic ring 12, and a difference between the first residual angle and the second residual angle has a mapping relationship with an absolute position of a device rotation axis.

Specifically, referring to fig. 3, which illustrates the structure of the main track magnetic ring 11 and the run-away track magnetic ring 12 in the multi-track magneto-electric encoder 10 illustrated in fig. 1 and 2, it is preferable that the diameters of the main track magnetic ring 11 and the run-away track magnetic ring 12 are equal so as to have similar magnetic fluxes in the radial direction when rotated simultaneously; the main code channel magnetic ring 11 and the travelling code channel magnetic ring 12 are permanent magnets with magnetized radial end surfaces, so that the space required by the radial direction of the magnetic ring is reduced, and the volume of the magnetoelectric encoder is reduced; the number of pairs of the magnetic poles of the main track magnetic ring 11 is one and the number of pairs of the magnetic poles of the travelling track magnetic ring 12 is one and the number of pairs of the first magnetic poles is one and the number of pairs of the second magnetic poles is one or the number of pairs of the magnetic poles of the travelling track magnetic ring 12 is one and the number of pairs of the magnetic poles of the main track magnetic ring 11 is one and the number of pairs of the second magnetic poles is one and the number of pairs of the first magnetic poles is one. In the example shown in fig. 3, the number of pairs of the magnetic poles of the main track magnetic ring 11 is 8, and the number of pairs of the magnetic poles of the run-away track magnetic ring 12 is 7.

The first magnetic sensors 13 are distributed along the annular space, and the distance between each first magnetic sensor 13 and the main code track magnetic ring 11 is equal; the second magnetic sensors 14 are distributed along the annular space, and the distance between each second magnetic sensor 14 and the magnetic ring 12 of the code track is equal. The first magnetic sensor 13 and the second magnetic sensor 14 may be hall elements, or may be other magnetic field sensing elements, and may be specifically selected according to actual needs. The number of the first magnetic sensors 13 and the number of the second magnetic sensors 14 are six, and the first magnetic sensors are used for respectively collecting differential signals of Hall signals, the circumferences formed by the six first magnetic sensors 13 and the main code track magnetic ring 11 have the same circle center, and the circumferences formed by the six second magnetic sensors 14 and the travelling code track magnetic ring 12 also have the same circle center.

As shown in fig. 1 to 3, the first magnetic sensor 13 is disposed outside the second magnetic sensor 14 along the radial direction of the main track magnetic ring 11; and/or along the direction of the code track magnetic ring 12 towards the main code track magnetic ring 11, the first magnetic sensor 11 protrudes from the second magnetic sensor 12. In other embodiments, the positions of the main code track magnetic ring 11 and the code track magnetic ring 12 may be changed, and correspondingly, the positions of the first magnetic sensor 13 and the second magnetic sensor 14 may be adjusted accordingly, that is, the positions may also be along the radial direction of the code track magnetic ring 12, the second magnetic sensor 14 is disposed outside the first magnetic sensor 13, along the direction of the main code track magnetic ring 11 towards the code track magnetic ring 12, and the second magnetic sensor 14 protrudes from the first magnetic sensor 13.

Alternatively, please refer to fig. 4 to 7, wherein fig. 4 is a schematic top view of another multi-channel magnetoelectric encoder 10 according to an embodiment of the present utility model, fig. 5 is a schematic side view of the multi-channel magnetoelectric encoder 10 shown in fig. 4, fig. 6 is a schematic three-dimensional structure of a circuit board 15 and electronic components disposed on the circuit board 15 in the multi-channel magnetoelectric encoder 10 shown in fig. 4, and fig. 7 is a schematic three-dimensional structure of a main-channel magnetic ring 11' and a run-channel magnetic ring 12 in the multi-channel magnetoelectric encoder 10 shown in fig. 4. The working principle of the multi-code magneto-electric encoder 10 provided in fig. 4 to 7 is the same as that of the multi-code magneto-electric encoder 10 shown in fig. 1 to 3, and is different from that of the multi-code magneto-electric encoder 10 shown in fig. 1 to 3 in that: the multi-code magnetic encoder 10 shown in fig. 4 to 7 is an example in which the main code magnetic ring 11' is sleeved outside the run-away magnetic ring 12, that is, the diameters of the main code magnetic ring 11' and the run-away magnetic ring 12 are not equal, and the main code magnetic ring 11' and the run-away magnetic ring 12 are coaxially arranged. At this time, correspondingly, the plurality of first magnetic sensors 13 are disposed on one side of the main code track magnetic ring 11' along the axial direction of the main code track magnetic ring 11', the plurality of second magnetic sensors 14 are disposed on one side of the code track magnetic ring 12 along the axial direction of the code track magnetic ring 12, and along the radial direction of the main code track magnetic ring 11', and the plurality of first magnetic sensors 13 are disposed on the outer sides of the plurality of second magnetic sensors 14.

In the examples shown in fig. 4 and fig. 5, the main track magnetic ring 11 'is disposed at the outer side of the run-away track magnetic ring 12, the first magneto-sensitive element 13 is disposed at the outer side of the second magneto-sensitive element 14 along the radial direction of the main track magnetic ring 11', and the number of pairs of the first magnetic poles is one more than the number of pairs of the second magnetic poles, or the number of pairs of the second magnetic poles is one more than the number of pairs of the first magnetic poles; in other embodiments, the magnetic ring 12 of the code track may be sleeved outside the magnetic ring 11 'of the main code track, and the first magnetic sensor 13 is disposed inside the second magnetic sensor 14 along the radial direction of the magnetic ring 11' of the main code track; in other embodiments, the relationship between the pair of the first magnetic poles and the pair of the second magnetic poles is not limited to the embodiment of the present utility model, and may be specifically set according to actual needs.

And, the included angles between every two adjacent first magneto-sensitive elements 13 along the annular distribution satisfy the following relationship:

wherein θ ₁ Represents the angle between two adjacent first magneto-sensitive elements 13, n ₁ Representing the logarithm of the first magnetic pole, j ₁ Representing the number of the first magneto-sensitive elements 13, k is 0 or a positive integer; and/or

The included angles between every two adjacent second magnetic sensors 14 along the annular distribution satisfy the following relationship:

wherein θ ₂ Represents the angle between two adjacent second magneto-sensitive elements 14, n ₂ Representing the logarithm of the second magnetic pole, j ₂ Representation houseThe number of the second magneto-sensitive elements 14, k is 0 or a positive integer.

Further, the first and second magnetic sensors 13 and 14 cannot be directly in accordance with the first and second magnetic sensors 13 and 14 due to the large volumes of the first and second magnetic sensors 13 and 14Under the condition that the included angles are arranged at intervals, k is a positive integer.

For the case of the magnetic ring 11 of the main code track with 7 pairs of magnetic poles and 8 pairs of magnetic poles of the magnetic ring 12 of the travelling code track with 7 pairs of magnetic poles shown in fig. 1 to 7, and the number of the first magnetic sensor 13 and the second magnetic sensor 14 is six, the six first magnetic sensors 13 are divided into three pairs of hall, corresponding to A, B, C three phases respectively, the six second magnetic sensors 14 are also divided into three pairs of hall, corresponding to A, B, C three phases respectively, and under the condition that the space of the circuit board 15 is sufficient as shown in fig. 1 to 7, the included angle between each two adjacent first magnetic sensors 13 along the annular distribution can be calculated: the included angle between each two adjacent second magnetic sensors 14 along the annular distribution

The multi-code magnetic encoder 10 further comprises a circuit board 15, the first magnetic sensor 13 and the second magnetic sensor 14 are fixed on the circuit board 15, and the main code magnetic ring 11 and the code magnetic ring 12 can rotate relative to the circuit board 15. The circuit board 15 may be a printed circuit board 15 (Printed Circuit Board, PCB), and the circuit board 15 may further be provided with a first hall bracket 16a, a second hall bracket 16b, a microprocessor 17, and a connection terminal 18, and integrated with a signal processing circuit, a communication circuit, and a peripheral circuit.

Also, in the examples shown in fig. 1 to 3, the first magnetic sensor 13 and the second magnetic sensor 14 are plug-in hall elements, and therefore, a first hall bracket 16a and a second hall bracket 16b are also provided, specifically, the first hall bracket 16a and the second hall bracket 16b are fixed on the circuit board 15, the first magnetic sensor 13 is fixedly mounted on the first hall bracket 16a, specifically, the first hall bracket 16a has slots for fixing the first magnetic sensor 13, and the number of slots is the same as the number of the first magnetic sensors 13; and/or the second magnetic sensor 14 is fixedly mounted on the second hall bracket 16b, specifically, the second hall bracket 16b has slots for fixing the second magnetic sensor 14, and the number of slots is the same as the number of the second magnetic sensors 14. In the example shown in fig. 1, since the first magnetosensitive element 13 is disposed on the outside, the first hall bracket 16a for fixing the first magnetosensitive element 13 is also disposed on the outside with respect to the second hall bracket 16b, and the height of the first hall bracket 16a is higher than the height of the second hall bracket 16b for fixing the second magnetosensitive element 14, so that the first magnetosensitive element 13 is prevented from being shielded, a magnetic flux change condition cannot be acquired, and besides the fixing effect, the first hall bracket 16a and the second hall bracket 16b can also reduce an assembly error of the first magnetosensitive element 13 and the second magnetosensitive element 14. It should be noted that the positions of the first magnetic sensor 13 and the second magnetic sensor 14 may be changed, and after the positions are changed, the same needs to set different heights to avoid shielding. In the examples shown in fig. 4 to 7, since the first magnetic sensor 13 and the second magnetic sensor 14 are patch type hall elements, the first magnetic sensor 13 and the second magnetic sensor 14 are directly fixed on the circuit board 15 without a hall bracket, and a user or a designer can select the type of the magnetic sensor and the fixing manner on the circuit board 15 according to the actual situation, which is not limited to the limitation of the embodiment of the present utility model.

The microprocessor 17 is fixed on the circuit board 15 and is electrically connected with the circuit board 15, the first magnetic sensor 13 and the second magnetic sensor 14 are also electrically connected with the microprocessor 17, so that the microprocessor 17 is respectively in communication connection with the first magnetic sensor 13 and the second magnetic sensor 14 through the circuit board 15, and the microprocessor 17 can acquire hall signals output by the first magnetic sensor 13 and the second magnetic sensor 14 and execute angle resolving work to realize angle measurement. The connection terminal 18 is also electrically connected to the circuit board 15, and the connection terminal 18 may be connected to an external device, for example, a communication bus, to implement a data transmission function of receiving a control command, and/or outputting absolute angle data obtained by resolving.

Specifically, when the multi-code magneto-electric encoder 10 provided by the embodiment of the present utility model works, as shown in fig. 3 and 7, the run-length magnetic ring 12 with 7 pairs of magnetic poles and the main-length magnetic ring 11 with 8 pairs of magnetic poles are taken as examples, and the number of the first magneto-sensitive elements 13 and the number of the second magneto-sensitive elements 14 are six, the six hall signals output by the first magneto-sensitive elements 13 are a _{Main unit} ⁺ 、B _{Main unit} ⁺ 、C _{Main unit} ⁺ 、A _{Main unit} ^- 、B _{Main unit} ^- 、C _{Main unit} ^- The six paths of Hall signals output by the second magneto-sensitive element 14 are A _{Swimming device} ⁺ 、B _{Swimming device} ⁺ 、C _{Swimming device} ⁺ 、A _{Swimming device} ^- 、B _{Swimming device} ^- 、C _{Swimming device} ^- Please refer to fig. 8, which illustrates the hall element a on the main track _{Main unit} Hall element A on the code channel _{Swimming device} A hall signal is generated. The Hall signal is divided into 8 intervals according to the logarithm of the magnetic pole of the main code channel, namely every 45 ^° Divided into one cycle. And has the mechanical angle theta of the main code track magnetic ring _{Main unit} And the mechanical angle theta of the magnetic ring of the travel code channel _{Swimming device} The relationship exists:

θ _{main unit} ＝θ _{Swimming device} Namely:

the following relationship can be obtained after adjusting the formula:

wherein p is _{Main unit} Representing the residual angle (i.e., first residual angle) p of the current main track magnetic ring 11 _{Swimming device} Represents the residual angle (namely the second residual angle) of the current track magnetic ring 12, n is the opposite pole number, m of the main track magnetic ring 11 _{Main unit} Indicating the complete number of cycles, m, that the actual mechanical angle has rotated on the main track magnetic ring 11 _{Swimming device} Indicating the complete number of cycles that the actual mechanical angle has rotated on the run-length magnetic ring 12. Wherein the first residual angle and the second residual angle are resolvable by a three-phase table look-up method, and when the rotation axes of the apparatus have different mechanical angles, the difference between the first residual angle and the second residual angle is also different.

And, since the difference between the number of pairs of magnetic poles of the main track magnetic ring 11 and the number of pairs of magnetic poles of the run-away track magnetic ring 12 is 1, m is _{Main unit} And m _{Swimming device} The following relationship is satisfied:

m _{main unit} ＝m _{Swimming device} =i-1 or m _{Main unit} ＝m _{Swimming device} +1＝i-1

Wherein i is E [1,8 ]]I e Z, and i represents the actual mechanical angle rotated by the rotation shaft 20 corresponding to the ith pair of first magnetic poles, m, on the main track magnetic ring 11 _{Main unit} Indicating that the actual mechanical angle rotated when the shaft 20 rotates corresponds to the complete number of cycles, m, that have been rotated on the main track magnetic ring 11 _{Swimming device} Indicating that the actual mechanical angle rotated when the shaft 20 is rotated corresponds to the complete number of cycles that have been rotated on the run-length magnetic ring 12.

For example, assuming that the actual mechanical angle rotated during rotation is 50 °, since the main track magnetic ring 11 has 8 pairs of first magnetic poles, i.e., each pair of first magnetic poles has an angle of 45 °, the corresponding position on the main track is the 2 nd pair of first magnetic poles, i.e., i=2, and the 50 ° correspondence can pass through a complete pair of first magnetic poles, i.e., through a complete cycle, thus m _{Main unit} =1, and since the run-track magnetic ring 12 has 7 pairs of poles, i.e. each pair of first magnetic poles has an angle of 51.43 °,50 °Corresponding to failing to pass through a pair of complete second poles, i.e. failing to pass through a complete cycle, thus m _{Swimming device} =0, conform to formula m _{Main unit} ＝m _{Swimming device} +1＝i-1。

The difference between the first residual angle and the second residual angle satisfies the following relationship:

when m is _{Main unit} ＝m _{Swimming device} When=i-1:

when m is _{Main unit} ＝m _{Swimming device} +1=i-1:

after the difference between the first residual angle and the second residual angle is calculated by the above formula, the actual interval of the mechanical angle can be determined by the following formula:

θ＝T(p _{main unit} -p _{Swimming device} )+p _{Swimming device}

Where T represents the angle obtained in the T-th section, and θ is the actual mechanical angle. Then, according to the specific section, the absolute position of the device, that is, the actual mechanical angle is obtained by looking up a table of a mapping table of the difference value between the first residual angle and the second residual angle and the actual mechanical angle as shown in the following table 1.

TABLE 1

The partition mode of the section and the setting of the corresponding absolute position can be used for adjusting the number of the magnetic poles of the magnetic ring according to actual needs to realize adjustment, and the method is not limited by the example of the embodiment of the utility model.

When the multi-code magneto-electric encoder 10 provided by the embodiment of the utility model works, the circuit board 15 and electronic components fixedly arranged on the circuit board 15 form a rotor part, the main code magnetic ring 11 and the balance magnetic ring 12 form a stator part, the stator part and the rotor part can rotate relatively along the axial direction, and the generated magnetic change can be detected by the first magnetic sensor 13 and the second magnetic sensor 14, so that the absolute angle detection of equipment is realized.

It should be noted that, the multi-code magneto-electric encoder 10 provided in the first embodiment of the present utility model may be applied to other devices that have requirements on the volume and precision of the magneto-electric encoder, besides the camera device 100 provided in the first embodiment of the present utility model, and is not limited by the embodiments of the present utility model.

Example two

An embodiment of the present utility model provides a camera device 100, please refer to fig. 9 to 11, wherein fig. 9 illustrates a structure of the camera device 100 including the multi-channel magnetoelectric encoder 10 illustrated in fig. 1, fig. 10 is a structure of a part of elements of the device illustrated in fig. 9, and fig. 11 illustrates a structure of the camera device 100 including the multi-channel magnetoelectric encoder 10 illustrated in fig. 4, provided in the embodiment of the present utility model, the camera device 100 includes: a rotation shaft 20, and, as in the first embodiment, the multi-track magneto-electric encoder 10, wherein the main-track magnetic ring 11 and the run-length magnetic ring 12 of the multi-track magneto-electric encoder 10 are respectively fixed to the rotation shaft 20, the rotation shaft 20 is rotatable relative to the first magneto-sensitive element 13 and the second magneto-sensitive element 14 of the multi-track magneto-electric encoder 10, and the first magneto-sensitive element 13 and the second magneto-sensitive element 14 are used for detecting a rotation angle of the rotation shaft 20.

And the central axis of the rotation shaft 20 passes through the circle centers of the main code channel magnetic ring 11 and the travel code channel magnetic ring 12. The distance between the rotating shaft 20 and the hall element on the circuit board 15, that is, the distance between the first magnetic sensor 13 and the second magnetic sensor 14, needs to satisfy the working interval of the hall, that is, the distance between the main code track magnetic ring 11 and the first magnetic ring 13 needs to be kept to satisfy the working interval of the hall, and the distance between the balance code track magnetic ring 12 and the second magnetic ring 14 needs to be kept to satisfy the working interval of the hall, so that the sinusoidal hall signal is ensured not to generate the phenomena of top cutting and bottom cutting.

The camera apparatus 100 further includes: a fixed block 30, the main track magnetic ring 11 and the run-length magnetic ring 12 in the multi-track magneto-electric encoder 10 are fixed on the rotation shaft 20 of the camera device 100 through the fixed block 30. The fixing block 30 may be made of copper, steel, or other materials, and the fixing block 30 may be in a shape of a column or a ring, or other shapes, and may be specifically configured according to actual needs, and the fixing block 30 is fixed on the rotating shaft 20 of the camera device 100, in the examples shown in fig. 9 to 11, the fixing block 30 is a steel ring, an inner side of which is fixed with the rotating shaft 20 of the camera device 100, and an outer side of which is provided with two grooves for respectively fixing the main code channel magnetic ring 11 and the run-length code channel magnetic ring 12.

In some embodiments, the camera apparatus 100 further includes a camera body (not shown) and a driving assembly, and the rotation shaft 20 is connected to the driving assembly and the camera body, respectively, and the driving assembly can drive the rotation shaft 20 and the camera body to rotate synchronously. The driving assembly comprises a transmission device 40 and a stepping motor 50, the rotation shaft 20 of the camera body is the rotation shaft 20 of the camera device 100, the transmission device 40 comprises a rotation wheel 41, a driven wheel 43 and a track 42, the rotation shaft 20 can be fixed on the driven wheel 41, the fixing block 30 is also connected with the rotation shaft 20, the rotation wheel 41 is connected with the rotation shaft of the stepping motor 50, the driven wheel 43 is connected with the camera body, the rotation wheel 41 is connected with the driven wheel 43 through the track 42, the rotation wheel 41 and the driven wheel 43 are linked through the track 42, the center of the rotation wheel 41 is hollowed out and is provided with a through hole 41a, and the rotation shaft of the stepping motor 50 is fixed in the through hole 41 a. The monitoring camera can be a monitoring camera with a rotation angle of 0-180 degrees.

The camera device 100 further comprises a housing 60 and a conversion plate 70, wherein the circuit board 15 is fixed on the housing 60 of the camera device 100, so that the multi-channel magnetoelectric encoder 10 is indirectly fixed on the housing 60 of the camera device 100 through the circuit board 15, and the stepping motor 50 is fixed on the housing 60 through the conversion plate 70. As shown in fig. 9 to 11, the circuit board 15 fixed to the housing 60 is fixed by a screw, and the housing 60 is provided with a screw hole.

When the camera device 100 works, the stepper motor 50 rotates to drive the rotating wheel 41 to rotate, the rotating wheel 41 drives the driven wheel 43 to rotate through the crawler 42, so as to drive the camera body fixed on the driven wheel 43 and the main code track magnetic ring 11 and the traveling code track magnetic ring 12 fixed on the fixed block 30 to rotate, so that the first magneto-sensitive element 13 and the second magneto-sensitive element 14 on the circuit board 15 can detect the magnetic field change, and the multi-code track magneto-electric encoder 10 can realize the measurement of the absolute position of the monitoring camera.

When the camera device 100 is a monitoring camera, the multi-code magneto-electric encoder 10 shown in the first embodiment can meet the high precision requirement of the detection of the absolute angle of the camera when the monitoring camera rotates and adjusts the shooting direction, and the multi-code magneto-electric encoder 10 has smaller volume, so that the occupied volume of the multi-code magneto-electric encoder 10 in the monitoring camera can be reduced, and the miniaturization of the monitoring camera is facilitated.

The embodiment of the utility model provides a multi-code-channel magneto-electric encoder and camera equipment, the multi-code-channel magneto-electric encoder comprises a main code-channel magnetic ring and a travel-channel magnetic ring, the main code-channel magnetic ring and the travel-channel magnetic ring are sequentially arranged along the axial direction (or the radial direction), the main code-channel magnetic ring comprises a plurality of pairs of first magnetic poles, the travel-channel magnetic ring comprises a plurality of pairs of second magnetic poles, the pair numbers of the second magnetic poles are different from the pair numbers of the first magnetic poles, a plurality of first magnetic sensitive elements and a plurality of second magnetic sensitive elements, the plurality of first magnetic sensitive elements are arranged on the outer side of the main code-channel magnetic ring along the radial direction (or the axial direction) of the travel-channel magnetic ring, the main code-channel magnetic ring and the travel-channel magnetic ring can rotate relative to the first magnetic sensitive elements and the second magnetic sensitive elements, the first magnetic sensitive elements and the second magnetic sensitive elements are respectively used for detecting the main code-channel magnetic ring and the travel-channel magnetic ring, and the two-channel magnetic encoder has high-angle accuracy.

It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the utility model, the steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in details for the sake of brevity; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. A multi-code magneto-electric encoder comprising:

the main code channel magnetic ring and the code channel magnetic ring are sequentially arranged along the axial direction, the main code channel magnetic ring comprises a plurality of pairs of first magnetic poles, the code channel magnetic ring comprises a plurality of pairs of second magnetic poles, and the number of pairs of second magnetic poles is different from the number of pairs of first magnetic poles;

the plurality of first magnetic sensors and the plurality of second magnetic sensors are arranged on the outer side of the main code channel magnetic ring along the radial direction of the main code channel magnetic ring, and the plurality of second magnetic sensors are arranged on the outer side of the code channel magnetic ring along the radial direction of the code channel magnetic ring;

the main code channel magnetic ring and the travelling code channel magnetic ring can rotate relative to the first magnetic sensor and the second magnetic sensor, and the first magnetic sensor and the second magnetic sensor are respectively used for detecting magnetic field angles of the main code channel magnetic ring and the travelling code channel magnetic ring.

2. The multi-track magneto-electric encoder of claim 1, wherein the main track magnetic loop and the run-away track magnetic loop have equal diameters, and wherein the first pole has a pair of the second pole plus one, or wherein the second pole has a pair of the first pole plus one.

3. The multi-track magneto-electric encoder of claim 1, wherein,

the first magnetic sensor is arranged outside the second magnetic sensor along the radial direction of the main code channel magnetic ring; and/or

And the first magnetic sensor protrudes out of the second magnetic sensor along the direction of the magnetic ring of the travelling code channel towards the magnetic ring of the main code channel.

4. A multi-code magneto-electric encoder comprising:

the main code channel magnetic ring is sleeved outside the code channel magnetic ring, the main code channel magnetic ring comprises a plurality of pairs of first magnetic poles, the code channel magnetic ring comprises a plurality of pairs of second magnetic poles, and the number of pairs of second magnetic poles is different from the number of pairs of first magnetic poles;

the first magnetic sensors are arranged on one side of the main code channel magnetic ring along the axial direction of the main code channel magnetic ring, and the second magnetic sensors are arranged on one side of the code channel magnetic ring along the axial direction of the code channel magnetic ring;

5. The multi-track magneto-electric encoder of claim 4, wherein,

along the radial direction of the main code track magnetic ring, the first magnetic sensor is arranged on the outer side of the second magnetic sensor, and the logarithm of the first magnetic pole is the logarithm of the second magnetic pole plus one, or the logarithm of the second magnetic pole is the logarithm of the first magnetic pole plus one.

6. The multi-channel magnetoelectric encoder of any one of claims 1-5, wherein,

the first magnetic sensitive elements are distributed at intervals along the ring, and the distance between each first magnetic sensitive element and the main code channel magnetic ring is equal;

the second magnetic sensitive elements are distributed at intervals along the ring, and the distance between each second magnetic sensitive element and the magnetic ring of the code channel is equal.

7. The multi-track magneto-electric encoder of claim 6, wherein,

the included angles between every two adjacent first magneto-sensitive elements along the annular distribution meet the following relation:

8. The multi-track magneto-electric encoder of claim 6, further comprising a circuit board, wherein the first and second magneto-sensitive elements are fixed to the circuit board, and wherein the main track magnet ring and the run track magnet ring are rotatable relative to the circuit board.

9. The multi-track magneto-electric encoder of claim 8, further comprising a first hall bracket, the first hall bracket being secured to the circuit board, the first magneto-sensitive element being fixedly mounted to the first hall bracket; and/or

The circuit board is characterized by further comprising a second Hall bracket, wherein the second Hall bracket is fixed on the circuit board, and the second magnetic sensor is fixedly arranged on the second Hall bracket.

10. A camera apparatus, characterized by comprising:

a rotating shaft;

the multi-track magnetic-electric encoder of any one of claims 1-9, wherein the main-track magnetic ring and the run-track magnetic ring of the multi-track magnetic-electric encoder are respectively fixed to the rotation shaft, the rotation shaft is rotatable relative to a first magneto-sensitive element and a second magneto-sensitive element of the multi-track magnetic-electric encoder, and the first magneto-sensitive element and the second magneto-sensitive element are used for detecting a rotation angle of the rotation shaft.