JP2007132862A - Magnetic encoder - Google Patents

Magnetic encoder Download PDF

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Publication number
JP2007132862A
JP2007132862A JP2005327876A JP2005327876A JP2007132862A JP 2007132862 A JP2007132862 A JP 2007132862A JP 2005327876 A JP2005327876 A JP 2005327876A JP 2005327876 A JP2005327876 A JP 2005327876A JP 2007132862 A JP2007132862 A JP 2007132862A
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Prior art keywords
encoder
magnet
shaft
main body
magnetic
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JP2005327876A
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Katsuhiro Hashimoto
克博 橋本
Satoshi Yanagawa
敏 梁川
Yuzo Urasaki
雄三 浦崎
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Koyo Electronics Industries Co Ltd
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Koyo Electronics Industries Co Ltd
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Priority to JP2005327876A priority Critical patent/JP2007132862A/en
Priority to KR1020060020894A priority patent/KR100804361B1/en
Priority to TW095108091A priority patent/TWI298098B/en
Priority to CNB2006100676749A priority patent/CN100485319C/en
Publication of JP2007132862A publication Critical patent/JP2007132862A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
    • H01Q1/241—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM
    • H01Q1/246—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM specially adapted for base stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/155—Ground-based stations

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a compact magnetic encoder of (for example, 10-bit) high resolution capable of being installed to a narrow location. <P>SOLUTION: The magnetic encoder comprises a magnet 12 fixed to the tip of a shaft 11; an IC chip 14 having a Hall device 13 for detecting changes in magnetic fields with the rotation of the magnet 12 for computing the rotational angle of the shaft 11 on the basis of the detection of the Hall device 13 and generating a plurality of signals on the basis of rotational angle information; and plurality of circuit parts for outputting the plurality of signals generated by the IC chip 14 to the outside. Both the magnet 12 having a shaft 11 and the IC chip 14 are provided as an encoder main part 10. A lead cable 20 is connected to the encoder main body part 10. The magnetic encoder is provided on lead cables 20 and 21 with a relay part 30 having an electric power circuit part 31 for supplying electric power for the plurality of circuit parts 32-34 and the encoder main body part 10. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、例えば、多関節ロボットの各関節の回転角度検出や、自動車のステアリングホイールの位置検出や、ブラシレスＤＣモータの制御に使用される小形の磁気式エンコーダに関するものである。   The present invention relates to a small magnetic encoder used for detecting the rotation angle of each joint of an articulated robot, detecting the position of a steering wheel of an automobile, and controlling a brushless DC motor, for example.

従来の磁気式エンコーダとして、例えばステッピングモータに設けられたものがある。これは、ステッピングモータの回転軸に設けられたロータヨークの外周面に取り付けられたマグネットと、マグネットの外周面に取り付けられた第１トラックと、この第１トラックに直交する端面に設けられた第２トラックと、第１トラックに設けられた多極着磁部と、第２トラックに設けられた単極着磁部と、多極着磁部及び単極着磁部にそれぞれ対向するように設けられた２つの磁気検出素子と、この２つの磁気検出素子の出力信号を処理するための回路部品が実装された回路基板とからなっている（例えば、特許文献１参照）。
特開２００４−１４４４９７公報（第６頁−第７頁、図１） For example, a conventional magnetic encoder is provided in a stepping motor. This includes a magnet attached to the outer peripheral surface of the rotor yoke provided on the rotating shaft of the stepping motor, a first track attached to the outer peripheral surface of the magnet, and a second provided on the end surface orthogonal to the first track. The track, the multipole magnetized portion provided on the first track, the single pole magnetized portion provided on the second track, the multipole magnetized portion and the single pole magnetized portion are provided to face each other. The two magnetic detection elements and a circuit board on which circuit components for processing the output signals of the two magnetic detection elements are mounted (for example, see Patent Document 1).
JP 2004-144497 A (pages 6-7, FIG. 1)

前述した特許文献１に記載のものは、マグネットの円周面とそれに直交する端面を有効利用して、磁気式エンコーダの軸方向の厚みを薄くしたものであるが、コンパクト化を図るには限度があった。   The one described in Patent Document 1 described above is one in which the circumferential surface of the magnet and the end surface perpendicular to the magnet are effectively used to reduce the thickness of the magnetic encoder in the axial direction. was there.

本発明は、前述のような課題を解決するためになされたもので、サイズが小さく、スペースの狭い場所でも設置が可能な小形高分解能（例えば１０ｂｉｔ）磁気式エンコーダを提供することを目的とする。   The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a small high-resolution (for example, 10-bit) magnetic encoder that is small in size and can be installed even in a small space. .

本発明に係る磁気式エンコーダは、シャフトの先端に固着された磁石と、磁石の回転に伴う磁界変化を検出するホール素子を有し、このホール素子の検出に基づいてシャフトの回転角を演算し、かつ、その回転角情報に基づいて複数の信号を生成する演算処理部と、演算処理部によって生成された複数の信号をそれぞれ外部に出力する複数の回路部とを有する磁気式エンコーダにおいて、シャフトを有する磁石及び演算処理部をエンコーダ本体部として備え、このエンコーダ本体部にリードケーブルを接続し、さらに、リードケーブル上に、複数の回路部及びエンコーダ本体部に電源供給する電源回路部を有する中継部を備えたものである。   The magnetic encoder according to the present invention has a magnet fixed to the tip of the shaft and a Hall element that detects a magnetic field change accompanying the rotation of the magnet, and calculates the rotation angle of the shaft based on the detection of the Hall element. And a magnetic encoder having an arithmetic processing unit that generates a plurality of signals based on the rotation angle information, and a plurality of circuit units that output the plurality of signals generated by the arithmetic processing unit to the outside, respectively. A relay having a power supply circuit unit for supplying power to a plurality of circuit units and the encoder body unit on the lead cable. It has a part.

本発明においては、シャフトを有する磁石及び演算処理部をエンコーダ本体部として備え、このエンコーダ本体部に接続されたリードケーブル上に、複数の回路部及び電源回路部を有する中継部を備えたので、エンコーダ本体部の形状をより小さくでき、スペースの狭い場所でも設置が可能になるという効果がある。   In the present invention, a magnet having a shaft and a calculation processing unit are provided as an encoder main body, and a lead cable connected to the encoder main body is provided with a relay unit having a plurality of circuit units and a power supply circuit unit. There is an effect that the shape of the encoder main body can be made smaller and installation can be performed even in a small space.

図１は本発明の実施の形態を示す磁気式エンコーダの外観図、図２は磁気式エンコーダの概略構成を示すブロック図である。
本実施の形態の磁気式エンコーダは、エンコーダ本体部１０と、エンコーダ本体部１０に接続されたリードケーブル２０と、一端がそのリードケーブル２０と接続された中継部３０と、この中継部３０の他端に接続されたリードケーブル２１とで構成されている。そのリードケーブル２１は、図示せぬコントローラに接続される。 FIG. 1 is an external view of a magnetic encoder showing an embodiment of the present invention, and FIG. 2 is a block diagram showing a schematic configuration of the magnetic encoder.
The magnetic encoder according to the present embodiment includes an encoder main body 10, a lead cable 20 connected to the encoder main body 10, a relay part 30 having one end connected to the lead cable 20, and the other relay part 30. The lead cable 21 is connected to the end. The lead cable 21 is connected to a controller (not shown).

エンコーダ本体部１０は、図２に示すように、シャフト１１と、シャフト１１の先端部に取り付けられた例えば１２ｋＧｓの磁束密度を有する磁石１２と、磁石１２の回転に伴う磁界変化を検出するホール素子１３が組み込まれたＩＣチップ１３（演算処理部）とを備えている。このＩＣチップ１３は、図示していないが基板に実装されており、エンコーダ本体部１０そのものは、磁性材質のカバー１５によって覆われている。このカバー１５により外部からの磁界の影響をシールドされる。   As shown in FIG. 2, the encoder body 10 includes a shaft 11, a magnet 12 having a magnetic flux density of, for example, 12 kGs attached to the tip of the shaft 11, and a Hall element that detects a magnetic field change accompanying the rotation of the magnet 12. And an IC chip 13 (arithmetic processing unit) in which 13 is incorporated. The IC chip 13 is mounted on a substrate (not shown), and the encoder main body 10 itself is covered with a magnetic material cover 15. The cover 15 shields the influence of an external magnetic field.

前記のホール素子１３は、ＩＣチップ１４の中心を軸としてその周りに９０度間隔で配置されている。ＩＣチップ１４は、ホール素子１３からの信号に基づいてシャフト１１の回転角を演算し、かつ、そのアブソリュートデータ（回転角情報）をＰＷＭ信号及びデジタル信号（シリアル通信用）の形で出力すると共に、インクリメンタル信号を生成する。このインクリメンタル信号としては、Ａ相・Ｂ相信号、ブラシレスＤＣモータのコミュテーション信号（Ｕ相・Ｖ相・Ｗ相信号）などがあり、これら信号の切替は、信号モード設定によって行われる。   The Hall elements 13 are arranged at intervals of 90 degrees around the center of the IC chip 14 as an axis. The IC chip 14 calculates the rotation angle of the shaft 11 based on the signal from the Hall element 13, and outputs the absolute data (rotation angle information) in the form of a PWM signal and a digital signal (for serial communication). Incremental signals are generated. The incremental signals include A-phase / B-phase signals, brushless DC motor commutation signals (U-phase / V-phase / W-phase signals), and the like. These signals are switched by setting a signal mode.

中継部３０は、電源回路部３１と、ローパスフィルタ部３２と、通信インターフェース部３３と、出力回路３４とが基板（図示せず）に実装され、カバー３５により覆われて構成されている。電源回路部３１は、コントローラからの電源５Ｖを定電圧化し、エンコーダ本体部１０に供給する。ローパスフィルタ部３２は、ＰＷＭ信号をアナログ信号に変換するものである。このローパスフィルタ部３２が中継部３０に設けられていない場合は、ＰＷＭ信号がコントローラに転送される。通信インターフェース部３３は、回転角のデジタルデータの要求をコントローラから受けたとき、その旨をＩＣチップ１４に通知し、この通知に応じてＩＣチップ１４からのデジタル信号（アブソリュート）が受信されるとコントローラに転送（シリアル）する。出力回路３４は、ＩＣチップ１４からのインクリメンタル信号をコントローラに出力するものである。   The relay unit 30 includes a power supply circuit unit 31, a low-pass filter unit 32, a communication interface unit 33, and an output circuit 34 mounted on a substrate (not shown) and covered with a cover 35. The power supply circuit unit 31 converts the power supply 5V from the controller to a constant voltage and supplies it to the encoder body 10. The low-pass filter unit 32 converts the PWM signal into an analog signal. When the low-pass filter unit 32 is not provided in the relay unit 30, the PWM signal is transferred to the controller. When the communication interface unit 33 receives a request for rotation angle digital data from the controller, the communication interface unit 33 notifies the IC chip 14 to that effect, and when a digital signal (absolute) is received from the IC chip 14 in response to this notification. Transfer (serial) to the controller. The output circuit 34 outputs an incremental signal from the IC chip 14 to the controller.

このように、シャフト１１を有する磁石１２及びＩＣチップ１４をエンコーダ本体部１０として備え、このエンコーダ本体部１０に接続されたリードケーブル２０とコントローラと接続されるリードケーブル２１との間に、電源回路部３１、ローパスフィルタ部３２、通信インターフェース部３３及び出力回路３４を有する中継部３０を設けたので、外形寸法が１５mm×１５mm×２２mmのエンコーダ本体部１０を提供でき、このため、スペースの狭い場所でも設置が可能になるという効果がある。   As described above, the magnet 12 having the shaft 11 and the IC chip 14 are provided as the encoder main body 10, and a power circuit is provided between the lead cable 20 connected to the encoder main body 10 and the lead cable 21 connected to the controller. Since the relay unit 30 having the unit 31, the low-pass filter unit 32, the communication interface unit 33, and the output circuit 34 is provided, the encoder body unit 10 having an outer dimension of 15 mm × 15 mm × 22 mm can be provided. But it has the effect that it can be installed.

本発明の実施の形態を示す磁気式エンコーダの外観図である。1 is an external view of a magnetic encoder showing an embodiment of the present invention. 磁気式エンコーダの概略構成を示すブロック図である。It is a block diagram which shows schematic structure of a magnetic encoder.

符号の説明Explanation of symbols

１０ エンコーダ本体部、１１ シャフト、１２ 磁石、１３ ホール素子、１４ ＩＣチップ、１５ カバー、２０，２１ リードケーブル、３０ 中継部、３１ 電源回路部、３２ ローパスフィルタ部、３３ 通信インターフェース部、３４ 出力回路部。
DESCRIPTION OF SYMBOLS 10 Encoder main part, 11 Shaft, 12 Magnet, 13 Hall element, 14 IC chip, 15 Cover, 20, 21 Lead cable, 30 Relay part, 31 Power supply circuit part, 32 Low-pass filter part, 33 Communication interface part, 34 Output circuit Department.

Claims (1)

シャフトの先端に固着された磁石と、
該磁石の回転に伴う磁界変化を検出するホール素子を有し、このホール素子の検出に基づいてシャフトの回転角を演算し、かつ、その回転角情報に基づいて複数の信号を生成する演算処理部と、
該演算処理部によって生成された複数の信号をそれぞれ外部に出力する複数の回路部とを有する磁気式エンコーダにおいて、
シャフトを有する磁石及び演算処理部をエンコーダ本体部として備え、このエンコーダ本体部にリードケーブルを接続し、さらに、前記リードケーブル上に、前記複数の回路部及び前記エンコーダ本体部に電源供給する電源回路部を有する中継部を備えた磁気式エンコーダ。
A magnet fixed to the tip of the shaft;
Arithmetic processing that has a Hall element that detects a magnetic field change accompanying rotation of the magnet, calculates the rotation angle of the shaft based on the detection of the Hall element, and generates a plurality of signals based on the rotation angle information And
In a magnetic encoder having a plurality of circuit units each outputting a plurality of signals generated by the arithmetic processing unit to the outside,
A power supply circuit including a magnet having a shaft and an arithmetic processing unit as an encoder main body, connecting a lead cable to the encoder main body, and further supplying power to the plurality of circuit units and the encoder main body on the lead cable The magnetic encoder provided with the relay part which has a part.
JP2005327876A 2005-11-11 2005-11-11 Magnetic encoder Pending JP2007132862A (en)

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JP2005327876A JP2007132862A (en) 2005-11-11 2005-11-11 Magnetic encoder
KR1020060020894A KR100804361B1 (en) 2005-11-11 2006-03-06 Magnetic encoder
TW095108091A TWI298098B (en) 2005-11-11 2006-03-10 Magnetic encoder
CNB2006100676749A CN100485319C (en) 2005-11-11 2006-03-23 Magnetic coder

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JP2009288125A (en) * 2008-05-30 2009-12-10 Koyo Electronics Ind Co Ltd Absolute encoder
CN102486384A (en) * 2010-12-06 2012-06-06 沈阳理工大学 Solar wireless multiturn coder
KR20120093280A (en) * 2009-10-14 2012-08-22 일렉트릭필 오토모티브 Magnetic sensor for determining the position and orientation of a target

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CN101846531B (en) * 2010-05-28 2011-08-24 江苏斯沃特电气有限公司 Multipole combined-type magnetic encoder
CN201795805U (en) * 2010-09-07 2011-04-13 王建国 Magnetic encoder adopting giant-Hall-effect magnetic sensing element
CN102538838A (en) * 2012-02-17 2012-07-04 三一重工股份有限公司 Multiturn rotary encoder
CN104567945A (en) * 2015-01-07 2015-04-29 北京龙邱智能科技有限公司 Magnetic encoder
CN104807482B (en) * 2015-04-29 2016-07-06 亿嘉和科技股份有限公司 Crusing robot steering angle measures encoder and steering angle error correcting method
CN111721329B (en) * 2020-07-07 2021-11-23 哈尔滨理工大学 three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
JP2009288125A (en) * 2008-05-30 2009-12-10 Koyo Electronics Ind Co Ltd Absolute encoder
KR20120093280A (en) * 2009-10-14 2012-08-22 일렉트릭필 오토모티브 Magnetic sensor for determining the position and orientation of a target
JP2013507636A (en) * 2009-10-14 2013-03-04 エレクトリクフィル オートモーティヴ Magnetic sensor for determining target position and orientation
KR101706808B1 (en) 2009-10-14 2017-02-14 일렉트릭필 오토모티브 Magnetic sensor for determining the position and orientation of a target
CN102486384A (en) * 2010-12-06 2012-06-06 沈阳理工大学 Solar wireless multiturn coder

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TW200718921A (en) 2007-05-16
TWI298098B (en) 2008-06-21
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KR100804361B1 (en) 2008-02-15
CN100485319C (en) 2009-05-06

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