JP2002116057A - Multi-rotational absolute value encoder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a battery-less multi-rotational absolute value encoder having high reliability in long life. SOLUTION: In the multi-rotational absolute value encoder provided with a first absolute value encoder 1 provided on a rotary shaft 11 to be detected, a speed reducer 3 provided on the rotary shaft to be detected, and a second absolute value encoder 2, the speed reducer 3 has a sun gear provided on the rotary shaft to be detected, a plurality of planet gears arranged on the circumference of the sun gear, and an inner gear engaged with the planet gear.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detection device for detecting a multi-rotation amount of a servomotor used for a robot, a machine tool or the like by an absolute angle, and in particular, to a batteryless multi-rotation type which does not require an external power supply. It relates to an absolute value encoder.

[0002]

2. Description of the Related Art As shown in Japanese Patent Publication No. 6-41853, a conventional system detects a magnetic one-pulse encoder for detecting the number of rotations and rotation direction of one or more rotations and an absolute value angle within one rotation. An optical absolute encoder is combined on the same shaft to detect the absolute angle of multiple rotations of the shaft based on each detection signal, and when the power supplied to the encoder is lost A multi-turn absolute value encoder is used in which power is supplied from an external auxiliary power source such as a battery power source to a one-pulse encoder and an electronic circuit that measures the detection amount of the one-pulse encoder.

[0003]

As described above, in the system in which the amount of rotation is held by the external power supply, an external battery power supply is indispensable, and the lead between the external battery power supply and the multi-rotation absolute value encoder should be used. When a disconnection occurs, there is a problem that the multi-rotation amount held up to now cannot be held, and the function as a product is lost. Further, there has been a problem that the external battery power supply must be periodically replaced. Therefore, an object of the present invention is to provide a multi-turn absolute value encoder that does not require an external power supply.

[0004]

According to a first aspect of the present invention, there is provided a multi-rotation type absolute value encoder apparatus comprising: a first absolute value encoder provided on a rotation axis to be detected; In a multi-rotation type absolute value encoder device for detecting an absolute angle of multi-rotation provided with a speed reducer provided on a rotating shaft and a second absolute value encoder provided on an output shaft of the speed reducer, the speed reducer includes: It is a gear reducer including a sun gear provided on the detected rotating shaft, a plurality of planetary gears arranged on the circumference of the sun gear, and an internal gear meshing with the planetary gear. According to a second aspect of the present invention, in the multi-rotational absolute value encoder device according to the first aspect, in the speed reducer, the first absolute value encoder has two poles magnetized in a direction perpendicular to a rotation axis. The sun gear provided with a permanent magnet and a magnetic detection element provided via an air gap at a position facing the permanent magnet, and the second absolute value encoder is two-pole magnetized in a direction perpendicular to a rotation axis. And a magnetic reduction device including a movable side internal gear provided with a permanent magnet and a magnetic detection element provided via a gap at a position facing the movable side internal gear. In the invention according to claim 3, the magnetic reduction gear is a 3K mysterious planetary gear reduction gear, a 2KH type planetary gear reduction gear or a KH planetary gear reduction gear.
It is characterized in that it is constituted by any of V-shaped planetary gear reducers. Further, the invention according to claim 4 provides a first absolute value encoder provided on the detected rotation shaft, a magnetic reduction device provided on the detected rotation shaft, and a second absolute value encoder provided on the output shaft of the magnetic reduction device. In a multi-rotation type absolute value encoder device for detecting an absolute angle of multi-rotation provided with an absolute value encoder, the magnetic reduction gear is provided with a cylindrical permanent magnet provided on the detected rotation shaft side and the output shaft. A magnet in which the provided permanent magnets are opposed to each other with a gap provided between both circumferential surfaces, and the permanent magnets on the side of the detected rotating shaft are two-pole magnetized in a direction perpendicular to the rotating shaft. The output side permanent magnet is magnetized to N poles (even number of 4 or more). The invention according to claim 5 is characterized in that a second magnet wheel magnetized on an M pole (an even number different from N) provided on a second output shaft added to the output side of the magnetic reduction gear; And a third absolute value encoder provided on the second output shaft. With the above-described configuration, the control circuit is configured to detect a multi-rotation amount absolute value angle signal from the output signals of the two or more absolute value encoders, and the two or more absolute value encoders have a rotation amount within one rotation. A battery-less system is required to hold the power, eliminating the need for an auxiliary power supply such as an external battery power supply. An encoder can be obtained. According to a sixth aspect of the present invention, there is provided a multi-rotation type absolute value encoder device according to any one of the first to fifth aspects, and a control circuit for processing an output signal of the absolute value encoder. It is characterized by having. By using the above-mentioned multi-rotation type absolute value encoder device,
By employing the output signal of the absolute value encoder device in the control circuit, a highly reliable control device using the rotation speed as a variable can be obtained.

[0005]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a multi-rotation type absolute value encoder according to the present invention. FIG. 1 shows a first embodiment of the present invention and is a conceptual diagram showing only necessary components. The multi-rotation type absolute value encoder includes a first absolute value encoder, a second absolute value encoder, and two absolute value encoders.
And a 3K mysterious planetary gear reducer (Fagerson gear mechanism). In FIG. 1, reference numeral 1 denotes a first absolute value encoder for detecting an absolute value angle of the rotary shaft 11 within one rotation, and 2 denotes a multiple rotation amount of the rotary shaft 11 of the first absolute value encoder within one rotation. Is a second absolute value encoder for detecting as an absolute value angle of. 3 is 3
K planetary gear reducer. This 3K planetary gear reducer
As shown in FIG. 2, the rotation axis 11 of the first absolute value encoder
And a plurality of planetary gears 32 arranged at equal circumferential intervals mesh with each other, and the planetary gears 32
Is engaged with the fixed internal gear 33 and the movable internal gear 34, and the rotation speed of the sun gear 31 is reduced by the difference in the number of teeth between the fixed internal gear 33 and the movable internal gear 34. The control circuit 4 detects a detection signal A of a first absolute value encoder that detects an absolute rotation angle within one rotation, and a detection signal B of a second absolute value encoder that detects a multiple rotation amount as an absolute value angle within one rotation. Detection angle synthesis circuit 4 for synthesizing a detection signal from
1. An abnormality detection circuit 42 for checking whether a signal obtained by synthesizing the detected angles is a normal signal by comparing it with internal data. When the result of the abnormality detection circuit 42 is normal, the detected angles are synthesized. An external control circuit (not shown) comprising an output control circuit 43 for controlling an external device using the detected signals, a power supply circuit 44 serving as an operating power supply for these circuits, and the like. It is a device that is configured to transmit to A feature of the present invention resides in that each of these two absolute value encoders uses a battery-less one to hold the rotation amount within one rotation. FIG. 2 is a sectional view illustrating the structure of the 3K planetary gear reducer 3 of FIG. FIG. 2A is a front sectional view of FIG.
FIG. 2B is a sectional view taken along the line AA ′, and FIG.
-B 'shows sectional views, respectively. In FIG. 2A, reference numeral 11 denotes a rotating shaft of the first absolute value encoder, 31 denotes a sun gear attached to the rotating shaft 11, and 32 denotes a plurality of sun gears and a plurality of the sun gears 31 which are arranged at equal intervals along the circumference. In the figure, 3
) Planetary gears. Reference numeral 33 denotes a fixed internal gear that inscribes and meshes with these three planetary gears 32, 32, 32, and reference numeral 34 similarly denotes these three planetary gears 32, 32, 32.
This is a movable internal gear that inscribes and meshes with the internal gear 32. The output shaft 21 is connected to an external gear 35 meshing with the movable internal gear 34. As described above, the sun gear 31 mounted on the rotary shaft 11 of the first absolute value encoder meshes with the plurality of planetary gears 32 arranged at equal circumferential intervals, and the planetary gear 32 is fixed to the fixed internal gear 33. And the movable internal gear 34, the rotation speed of the sun gear 31 is reduced by the difference in the number of teeth between the fixed internal gear 33 and the movable internal gear 34. Therefore, in the second absolute value encoder 2 (FIG. 1), when the rotating shaft 11 of the first absolute value encoder 1 makes one rotation by the 3K planetary gear reducer 3, the value becomes 1
/ N is transmitted. Further, the angular resolution of the absolute encoder is one rotation (360
The absolute value encoder which can divide the degree into p is used.
For this reason, the second absolute value encoder 2 may be configured to be able to detect the absolute value of the multiple rotation amount of the rotating shaft 11 of the first absolute value encoder 1 as the value of the absolute value angle within one rotation. it can. That is, the absolute value of the amount of one rotation of the shaft 11 of the first absolute value encoder can be detected as the value of the absolute value angle within one rotation of 360 degrees / N.
This means that the second absolute value encoder 2 can detect the absolute value of the rotation axis of the first absolute value encoder 1 up to the amount of N rotations as the value of the absolute angle within one rotation. In the present invention, the planetary gear reducer is not limited to the 3K mysterious planetary gear reducer, and it goes without saying that a known 2KH type or KHV type planetary reducer can be applied.

Next, a second embodiment of the present invention will be described. FIG. 3 is a view showing the configuration of the second embodiment of the present invention, and FIG. 3 (a) is a front sectional view and FIG.
3A is a cross-sectional view, and FIG. 3B is a BB ′ cross-sectional view of FIG. In FIG. 3A, reference numeral 12 denotes a motor shaft, that is, a rotation shaft of the first absolute value encoder, and reference numeral 31 denotes a sun gear attached to the rotation shaft 12. Reference numeral 51 denotes a permanent magnet included in the sun gear 31 and magnetized to two poles, and reference numeral 52 denotes a Hall element disposed at a position facing the permanent magnet 51. Reference numeral 32 denotes a sun gear 31 and a plurality of sun gears 31 (3 in FIG.
), 33 is a fixed internal gear that inscribes and meshes with these three planetary gears 32, 32, 32, and 34 is also a fixed internal gear.
This is a movable internal gear that inscribes and meshes with the internal gear 32. The external gear 35 meshing with the movable internal gear 34 is formed in an annular shape, and a permanent magnet 61 is provided inside the external gear 35. Reference numeral 62 denotes a Hall element arranged at a position facing the permanent magnet 61, which constitutes the second encoder 6. As described above, according to the second embodiment, the permanent magnet 51 magnetized to two poles on the sun gear 31 attached to the motor shaft 12 as a multi-rotation type absolute value encoder device that can be further downsized. A magnetic absolute value encoder 5 that detects a magnetic flux change by detecting a magnetic flux change by arranging a Hall element 52 at a position facing the permanent magnet 51 and a movable element of a 3K mysterious planetary gear reducer. The gear 34 also includes a permanent magnet 61 magnetized to two poles, and a Hall element 62 is arranged at a position facing the permanent magnet 61 to detect a change in magnetic flux and detect an absolute angle of multiple rotations. 3 with value encoder 6
It is composed of a K wonder planetary gear reducer. Since the rotation speed of the sun gear 31 is reduced by the difference in the number of teeth between the fixed internal gear 33 and the movable internal gear 34, the second absolute value encoder 6 has a large number of rotation shafts 11 of the first absolute value encoder 5. The absolute value of the rotation amount can be detected as the value of the absolute angle within one rotation. The means for detecting magnetic flux is not limited to a Hall element, but may be an MR element or a GM.
Although the R element may be used, and the encoder is arranged in the thickness direction of the magnet, it goes without saying that the encoder may be arranged in the radial direction.

Further, a third embodiment of the present invention will be described. FIG. 4 is a diagram showing the configuration of the third embodiment of the present invention, in which a 2KH type planetary gear reducer 8 is used. 4A is a front cross-sectional view taken along the line AA ′ of FIG. 4B, and FIG. 4B is a cross-sectional view taken along the line BB ′ of FIG. 4A. This 2KH type planetary gear reducer 8 is shown in FIG.
As shown in FIG. 4 (b), it is composed of a first stage 2KH type planetary gear reducer 8 'on the right side and a second stage 2KH type planetary gear reducer 8 "on the left side. At 12
Numeral denotes a motor shaft, that is, a rotating shaft of the first absolute value encoder, and 81 denotes a sun gear mounted on the rotating shaft 12. Reference numeral 51 denotes a permanent magnet included in the sun gear 31 and magnetized to two poles, and reference numeral 52 denotes a Hall element disposed at a position facing the permanent magnet 51. Reference numeral 82 denotes a sun gear 81 and a plurality (e.g., 3
), And 83 is a fixed internal gear that inscribes and meshes with these three planetary gears 32, 32, 32. A shaft 85 is connected to each of the planetary gears 82, 82, 82 at the center, and the shafts 85, 85, 85
Is fixed to the carrier 84. Reference numeral 61 denotes a permanent magnet that is included in the carrier 84 and is magnetized to two poles. Reference numeral 62 denotes a Hall element disposed at a position facing the permanent magnet 61. The first encoder 5 is constituted by the permanent magnet 51 and the Hall element 52, and the second encoder 6 is constituted by the permanent magnet 61 and the Hall element 62. Also, an output shaft is attached to the center of the permanent magnet 61, and this output shaft is
The input shaft of the KH type planetary gear reducer 8 ″.
The structure of the second stage 2KH type planetary gear reducer 8 ″ is basically the same as the structure of the first stage 2KH type planetary gear reducer 8 ′, and therefore a detailed description of the structure is omitted. ,
7 constitutes the third encoder 6. As described above, in the 2KH type planetary gear reducer 8 according to the third embodiment of the present invention, the sun gear 81 and the plurality of planetary gears 82 arranged at equal circumferential intervals mesh with each other. It meshes with the fixed internal gear 83, and the planetary gear 82 revolves while rotating. Then, since the revolution is output via the carrier 84, the rotation speed of the sun gear 71 is reduced. Sun gear 8 attached to motor shaft 12
1 includes a permanent magnet 51 magnetized in two poles,
By disposing the Hall element 52 at a position opposing to 1, the magnetic absolute value encoder 5 for detecting the change in magnetic flux and detecting the absolute angle during one rotation and the carrier 84 of the 2KH planetary gear reducer are also provided with two poles. A magnetic absolute value encoder 6 that includes a magnetized permanent magnet 61 and arranges a Hall element 62 at a position facing the permanent magnet 61 to detect a change in magnetic flux and detect an absolute angle of multiple rotations, and two more stages. The two-pole permanent magnet 7 is also provided on the carrier 84 of the second 2KH planetary gear reducer.
1, a magnetic absolute value encoder 7 that detects a change in magnetic flux by arranging a Hall element 72 at a position facing the permanent magnet 71 and detects an absolute angle of multiple rotations. In the unlikely event that the multi-rotation absolute value encoder 6 fails and a true detection angle cannot be obtained, a case where a detection signal of a multi-turn amount cannot be obtained than a detection signal within one rotation is a detector. Damage increases. Therefore, abnormality detection can be performed using a circuit that constantly compares the detection values of the magnetic absolute value encoders 6 and 7 provided in the first and second stages of the 2KH planetary gear reducer 8. In the present invention, the speed reduction means is not limited to the 2KH type planetary gear speed reducer, but may be a known 3K type planetary gear speed reducer or KHVK type planetary gear speed reducer.

FIG. 5 is a perspective view of a multi-rotation type absolute value magnetic encoder showing a fourth embodiment of the present invention. In the first to fourth embodiments, since the gear mechanism is used as the speed reducing means, there is a gear noise, and there is a life due to abrasion of the gear due to mechanical coupling, and there is a slight problem in reliability. The fourth embodiment of the present invention solves this problem, and according to this, a long-life, battery-less, highly reliable multi-rotational absolute encoder without gear noise can be obtained. In FIG. 5, reference numeral 101 denotes a first absolute value encoder (for detecting an absolute value angle within one rotation), and 111 denotes a motor shaft. Reference numeral 102 denotes a second absolute value encoder (for detecting a multi-rotation amount angle), and reference numeral 122 denotes a shaft thereof. Reference numeral 104 denotes a magnetic gear, which includes a permanent magnet 141 fixed to the motor shaft 111 and a magnet wheel 14 fixed to the shaft 122 of the second absolute value encoder 102.
And 2. Reference numeral 105 denotes a control circuit, which detects an absolute value of the absolute rotation angle within one rotation.
A detection angle synthesizing circuit 151 for synthesizing a detection signal A from No. 1 and a detection signal B from the absolute value encoder 102 which detects the multi-rotation amount as an absolute value angle within one rotation. It is composed of an output control circuit 152 for transmitting a signal to an external target device, and a power supply circuit 153 for supplying electricity to these circuits. As described above, the multi-turn absolute value magnetic encoder according to the fourth embodiment of the present invention includes the absolute value encoder 101 for detecting an absolute angle within one rotation, the magnetic gear 104, and the multi-rotation amount of 1 rotation.
The absolute value encoder 102 detects an absolute value angle within a rotation. A feature of the present invention is that all of these absolute value encoders use a battery-less encoder to hold the rotation amount within one rotation. The magnetic gear 104 has a permanent magnet 141 magnetized into two poles and an N pole (N
Is an even number). The materials of the permanent magnet 141 and the magnet wheel 142 are ferrite-based magnet, Sm-Co-based magnet, Ne-Fe-
It is formed by one of a B-based magnet and a dispersion-type composite magnet in which the various magnets are combined with a polymer material.

FIG. 6 shows the configuration of the magnetic gear 104. FIG. 6A shows an example in which the magnets are magnetized in a radial direction parallel to the plane, and the left is a front view and the right is a side view. FIG. 6B shows an example in which the surface is magnetized in the vertical direction. The left side is a front view, and the right side is a side view. In each of the figures, reference numeral 111 denotes a shaft of the first encoder, and 141 denotes a shaft 11 of the first encoder.
1, a permanent magnet 122, a second encoder shaft 122, a second encoder shaft 122
It is a magnet wheel fixed to. As described above, the permanent magnet 141 is magnetized in one direction perpendicular to the axis of the shaft 111. The N-pole magnetization direction of the magnet wheel 142 may be either of FIGS. In the case of FIG. 6 (a), which is magnetized in the radial direction parallel to the plane, the magnetic coupling force is strong and N can be increased, and in the case of FIG. 6 (b), which is magnetized in the vertical direction, the structure is Can be made compact.
It may be appropriately selected depending on which is prioritized.

Next, the operation of the magnetic gear will be described. When the shaft 111 makes one rotation, the permanent magnet 141 also makes one rotation, and the magnetic coupling rotates the magnet wheel 142 by 2 / N. The absolute value encoder 102 converts one rotation (360 degrees) to N
Since the divided absolute value encoder 102 is used,
The absolute value of the amount of multiple rotations of the shaft 111 is detected as the value of the absolute value angle within one rotation. Assuming that the rotation angle of the absolute value encoder 102 is α degrees, the multiple rotation amount of the shaft 111 is α degrees / 360 degrees × N / 2. Therefore, the absolute value up to the N / 2 rotation amount of the shaft 111 can be detected as the absolute value angle within one rotation by the second absolute value encoder. Also, the shaft 11
The rotation angle θ within one rotation of 1 is an absolute value encoder 101
Is detected by Therefore, the absolute value encoder 101,
With 102, the absolute angle of multiple rotations can be detected.

Next, a fifth embodiment of the present invention will be described. In FIG. 7, 101 is a first absolute value encoder (for detecting an absolute value angle within one rotation), and 111 is a motor shaft. Reference numeral 102 denotes a second absolute value encoder (for detecting a multi-rotation amount angle), and reference numeral 122 denotes a shaft thereof. Reference numeral 104 denotes a magnetic gear, and a motor shaft 111
And the magnet wheel 1 fixed to the shaft 122 of the second absolute value encoder 102
42. The configuration described above is the same as that of the fourth embodiment of the present invention. However, in the fifth embodiment of the present invention, a multi-rotation absolute value encoder for detecting a multi-rotation amount has a multi-rotation amount of one. A feature is that a third absolute value encoder that detects an absolute value angle within rotation is further added. That is, the magnet wheel 143 magnetized to the M pole (an even number different from N) is fixed to the shaft 133 of the third absolute value encoder, and when the shaft 111 of the first absolute value encoder 101 makes one rotation, it is fixed to this. The pole permanent magnet 141 also makes one revolution, and the magnetic coupling
3 rotates 2 / M. Therefore, the third absolute value encoder 103 can detect the absolute value of the shaft 111 up to the M / 2 rotation amount as the value of the absolute value angle within one rotation. Second absolute value encoder 102 Third absolute value encoder 1
03 have different resolutions, so that N / 2 and M
Assuming that the least common multiple of / 2 is K, a multiple rotation amount of K can be detected. In this case, N and M may be twice as large as the adjacent prime numbers. Therefore, by combining two absolute value encoders, it is possible to detect a much larger number of rotations than in the case of a single encoder.

FIG. 8 shows the configuration of the magnetic gear 104 shown in FIG. FIG. 8A shows an example in which the magnet is magnetized in a radial direction parallel to the plane.
The left is a front view and the right is a side view. FIG. 8B is an example in which the surface is magnetized in the vertical direction. The left side is a front view, and the right side is a side view. In any of the figures, 111 is the shaft of the first encoder, 141 is a permanent magnet fixed to the shaft 111 of the first encoder, 122 is the shaft of the second encoder, and 142 is the shaft 1 of the second encoder.
22 is a magnet wheel fixed to 22. 133 is a shaft of the third encoder, and 143 is a magnet wheel fixed to the shaft 133 of the third encoder. These functions are the same as those described with reference to FIG. 6, and the description is omitted here. In FIG. 7, reference numeral 105 denotes a control circuit which detects a detection signal A from the first absolute value encoder 101 which detects an absolute rotation angle within one rotation and a detection signal A which detects a multiple rotation amount as an absolute value angle within one rotation. A detection angle synthesizing circuit 151 for synthesizing a detection signal B from the second absolute value encoder 102 and a detection signal C from the third absolute value encoder 103 which detects the multi-rotation amount as an absolute value angle within one rotation; An output control circuit 152 transmits a control signal to an external target device by a signal from the synthesizing circuit 151, and a power supply circuit 153 that supplies electricity to each of these circuits. The detection angle synthesizing circuit 151 obtains a multi-rotation amount from the detection signal B of the second absolute value encoder 102 and the detection signal C of the third absolute value encoder 103, and detects the absolute rotation angle within one rotation. The multi-rotation absolute angle is detected by synthesizing the detection signal A of the absolute value encoder 101 of FIG.

[0013]

As described above, according to the present invention, the first absolute value encoder provided on the detected rotary shaft, the speed reducer provided on the detected rotary shaft, and the output shaft of the speed reducer A multi-rotation absolute value encoder device for detecting an absolute angle of multi-rotation provided with a second absolute value encoder provided in
By configuring the speed reducer with a sun gear provided on the detected rotation shaft, a plurality of planetary gears arranged on the circumference of the sun gear, and a gear reducer having an internal gear meshing with the planetary gear. The battery-less type is used as the absolute value encoder for detecting the absolute angle within one rotation and the absolute value encoder for detecting the multi-rotation amount, so that it has long life and high reliability. Battery-less multi-turn absolute value encoder can be obtained. A first absolute value encoder provided on the detected rotary shaft;
In a multi-rotation type absolute value encoder device for detecting an absolute angle of multiple rotations comprising a magnetic reduction gear provided on the detected rotation shaft and a second absolute value encoder provided on an output shaft of the magnetic reduction gear, The magnetic speed reducer is configured such that a cylindrical permanent magnet provided on the detected rotation shaft side and a cylindrical permanent magnet provided on the output shaft are opposed to each other with a gap provided on both circumferential surfaces. A permanent magnet on the rotation axis to be detected is a magnet wheel magnetized in two poles in a direction perpendicular to the rotation axis, and a permanent magnet on the output side is magnetized to N poles (even number of 4 or more); As a result, the gear mechanism is not used as the speed reduction means, so no gear noise is generated, the gear is quiet, and there is no gear wear due to mechanical coupling. An encoder is obtained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a view showing a structure of a 3K type planetary gear reducer 3 of FIG.

FIG. 3 is a diagram showing a second embodiment of the present invention.

FIG. 4 is a diagram showing a third embodiment of the present invention.

FIG. 5 is a diagram showing a fourth embodiment of the present invention.

FIG. 6 is a configuration diagram of a magnetic gear unit 104 of FIG.

FIG. 7 is a diagram showing a fifth embodiment of the present invention.

FIG. 8 is a configuration diagram of a magnetic gear unit 104 of FIG. 7;

[Explanation of symbols]

1: Absolute encoder, 11: rotary shaft, 12: motor shaft, 2: absolute encoder, 3: 3K type planetary gear reducer, 31: sun gear, 32: planetary gear, 33: fixed internal gear, 34: movable Internal gear, 35: External gear 4: Control circuit, 41: Detection angle synthesis circuit, 42: Abnormality detection circuit, 43: Output control circuit, 44: Power supply circuit, 5: Magnetic absolute value encoder, 51: Permanent magnet, 52 : Hall element, 6: Magnetic absolute value encoder, 61: Permanent magnet, 62: Hall element, 7: Magnetic absolute value encoder, 71: Sun gear 8: 2KH type planetary gear reducer, 81: Sun gear, 82: Planetary gear, 83: fixed internal gear, 84: carrier 101: absolute value encoder (for detecting an absolute value angle within one rotation) 111: shaft 102: absolute value encoder (multiple rotation amount angle) 122) Shaft 103: Absolute value encoder (for detecting multiple rotation angles) 133: Shaft 104: Magnetic gear unit 141: Permanent magnet 142: Magnet wheel 1 143: Magnet wheel 2 105: Control circuit 151: Angle synthesis circuit 152: output control circuit 153: power supply circuit

Continued on the front page (72) Inventor Kazunari Matsuzaki 2-1 Kurosaki Castle Stone, Yawata Nishi-ku, Kitakyushu-shi, Fukuoka Inside Yaskawa Electric Co., Ltd. (72) Inventor Takashi Nagase 2-1 Kurosaki Castle Stone, Yawata-Nishi-ku, Kitakyushu-shi, Fukuoka Co., Ltd. Yaskawa Electric F-term (reference) 2F077 AA24 CC02 DD08 DD26 NN02 NN17 PP11 PP12 VV02 VV11

Claims (6)

[Claims] A first absolute value encoder provided on a detected rotary shaft; a speed reducer provided on the detected rotary shaft; and a second absolute value encoder provided on an output shaft of the speed reducer. In the multi-rotation type absolute value encoder device for detecting the absolute angle of the multi-rotation, the speed reducer includes a sun gear provided on the detected rotation shaft, and a plurality of planetary gears arranged on the circumference of the sun gear. A multi-rotational absolute encoder device comprising a gear reducer having the planetary gear and an internal gear meshing with the planetary gear. 2. The multi-rotation type absolute value encoder device according to claim 1, wherein the speed reducer is provided with a permanent magnet in which the first absolute value encoder is magnetized in two directions perpendicular to a rotation axis. The second absolute value encoder comprises a permanent magnet magnetized in two poles in a direction perpendicular to a rotation axis, the magnetic sensor comprising a magnetic detection element provided through a gap at a position facing the sun gear and the permanent magnet. A multi-rotation type absolute value encoder device, characterized in that the device is a magnetic reduction gear comprising the movable internal gear and a magnetic detecting element provided at a position facing the movable internal gear via a gap. 3. The planetary gear reducer according to claim 2, wherein the magnetic reducer is a 3K mysterious planetary gear reducer, a 2KH type planetary gear reducer or a KHV type planetary gear reducer.
The multi-turn absolute value encoder device described in the above. A first absolute value encoder provided on the detected rotary shaft; a magnetic reduction gear provided on the detected rotary shaft; and a second absolute value encoder provided on the output shaft of the magnetic reduction device. In the multi-rotation type absolute value encoder device for detecting an absolute angle of multi-rotation, the magnetic speed reducer includes a cylindrical permanent magnet provided on the rotation axis to be detected and a cylindrical permanent magnet provided on the output shaft. It consists of a permanent magnet and a permanent magnet facing each other with a gap provided on both circumferential surfaces,
The permanent magnet on the rotation axis to be detected is a magnet wheel magnetized in two poles in a direction perpendicular to the rotation axis, and the permanent magnet on the output side is a magnet wheel magnetized in N pole (even number of 4 or more). A multi-rotation type absolute value encoder device characterized by the above-mentioned. 5. An M-pole (an even number different from N) provided on a second output shaft applied to an output side of the magnetic reduction gear.
5. The multi-rotation type absolute value encoder device according to claim 4, further comprising: a magnet wheel of (i) and a third absolute value encoder provided on the second output shaft. 6. A rotational speed variable comprising a multi-rotation type absolute value encoder device according to claim 1, and a control circuit for processing an output signal of said absolute value encoder. Control device.