JP2009229396A - バッテリレス絶対位置検出用エンコーダ - Google Patents
バッテリレス絶対位置検出用エンコーダ Download PDFInfo
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- JP2009229396A JP2009229396A JP2008078030A JP2008078030A JP2009229396A JP 2009229396 A JP2009229396 A JP 2009229396A JP 2008078030 A JP2008078030 A JP 2008078030A JP 2008078030 A JP2008078030 A JP 2008078030A JP 2009229396 A JP2009229396 A JP 2009229396A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
- G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24461—Failure detection by redundancy or plausibility
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
- G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/28—The target being driven in rotation by additional gears
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
【解決手段】 絶対位置演算部6と、絶対位置記憶部7と判定部8とを備えている。絶対位置演算部6は、4台のリラクタンスレゾルバRS0〜RS3から出力される検出信号に基づいて、被検出回転軸の回転回数を含む絶対位置を演算する。絶対位置記憶部7は、電源遮断時において絶対位置演算部6から出力される電源遮断時の絶対位置を記憶する不揮発性メモリを備えている。判定部8は、電源投入時において絶対位置演算部6から出力される絶対位置と、不揮発性メモリに記憶された電源遮断時の絶対位置とを比較し、両者の差が予め定めた値より大きいときにアラーム信号を出力する。
【選択図】 図1
Description
GM 歯車機構
1 ギヤボックス
2 ケース本体
3 回路基板
6 絶対位置演算部
7 絶対位置記憶部
8 判定部
9 電源監視部
Claims (8)
- 回転軸を有する複数の回転型絶対位置検出器が歯車機構を介して連結されて構成され、被検出回転軸の絶対位置を検出するバッテリレス絶対位置検出用エンコーダであって、
前記複数の回転型絶対位置検出器から出力される複数の検出信号に基づいて、前記被検出回転軸の回転回数を含む絶対位置を演算する絶対位置演算部と、
電源遮断時において前記絶対位置演算部から出力される電源遮断時の絶対位置を記憶する不揮発性メモリを備えた絶対位置記憶部と、
電源投入時において前記絶対位置演算部から出力される前記絶対位置と、前記不揮発性メモリに記憶された前記電源遮断時の絶対位置とを比較し、両者の差が予め定めた値より大きいときにアラーム信号を出力する判定部とを備えていることを特徴とするバッテリレス絶対位置検出用エンコーダ。 - 前記回転型絶対位置検出器が、リラクタンスレゾルバである請求項1に記載のバッテリレス絶対位置検出用エンコーダ。
- 前記回転型絶対位置検出器が、光学式絶対位置検出器である請求項1に記載のバッテリレス絶対位置検出用エンコーダ。
- 前記アラーム信号により前記絶対位置演算部からの前記絶対位置の出力を停止することを特徴とする請求項1,2または3に記載のバッテリレス絶対位置検出用エンコーダ。
- 前記絶対位置記憶部は、前記歯車機構に含まれる歯車の歯数の組合せから算出可能な前記絶対位置の検出領域の上限を越えた回数を保存するカウンタ部を備え、
前記絶対位置演算部は、前記カウンタ部に記憶された前記歯車機構に含まれる歯車の歯数の組合せから算出可能な前記絶対位置の検出領域の上限を越えた回数と前記複数の検出信号に基づいて演算した前記絶対位置とに基づいて、現在の絶対位置を演算することを特徴とする請求項1,2または3に記載のバッテリレス絶対位置検出用エンコーダ。 - 前記歯車機構を構成する複数の歯車は同一平面内に配置されている請求項1に記載のバッテリレス絶対位置検出用エンコーダ。
- 前記複数台の回転型絶対位置検出器のうち、前記被検出回転軸に接続される回転軸を有する1台の前記回転型絶対位置検出器が前記歯車機構の一方側に配置され、
前記1台の回転型絶対位置検出器の前記回転軸に前記歯車機構に含まれる1枚の前記歯車が固定され、
残りの前記回転型絶対位置検出器が前記歯車機構の他方側に配置され、
前記残りの回転型絶対位置検出器のそれぞれの前記回転軸に固定された前記歯車が、前記1枚の歯車の周囲に配置されている請求項6に記載のバッテリレス絶対位置検出用エンコーダ。 - 回転軸を有する複数の回転型絶対位置検出器が歯車機構を介して連結されて構成され、被検出回転軸の絶対位置を検出するバッテリレス絶対位置検出用エンコーダであって、
前記複数の回転型絶対位置検出器から出力される複数の検出信号に基づいて、前記被検出回転軸の回転回数を含む絶対位置を演算する絶対位置演算部と、
前記歯車機構に含まれる歯車の歯数の組合せから算出可能な前記絶対位置の検出領域の上限を越えた回数を記憶する不揮発性メモリを含むカウンタ部とを備え、
前記絶対位置演算部は、前記カウンタ部の前記不揮発性メモリに記憶された前記回数と前記複数の検出信号に基づいて演算した前記絶対位置とに基づいて、現在の絶対位置を演算することを特徴とするバッテリレス絶対位置検出用エンコーダ。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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JP2008078030A JP4617368B2 (ja) | 2008-03-25 | 2008-03-25 | バッテリレス絶対位置検出用エンコーダ |
CN2009801105402A CN101981409B (zh) | 2008-03-25 | 2009-03-16 | 无电池绝对位置检测用编码器 |
KR1020107021423A KR101535094B1 (ko) | 2008-03-25 | 2009-03-16 | 무배터리 절대 위치 검출용 인코더 |
EP09724706.8A EP2259016A4 (en) | 2008-03-25 | 2009-03-16 | Encoder for detecting batteryless absolute position |
US12/934,456 US8526013B2 (en) | 2008-03-25 | 2009-03-16 | Batterless absolute encoder |
PCT/JP2009/055068 WO2009119371A1 (ja) | 2008-03-25 | 2009-03-16 | バッテリレス絶対位置検出用エンコーダ |
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JP2008078030A JP4617368B2 (ja) | 2008-03-25 | 2008-03-25 | バッテリレス絶対位置検出用エンコーダ |
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JP4617368B2 JP4617368B2 (ja) | 2011-01-26 |
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US (1) | US8526013B2 (ja) |
EP (1) | EP2259016A4 (ja) |
JP (1) | JP4617368B2 (ja) |
KR (1) | KR101535094B1 (ja) |
CN (1) | CN101981409B (ja) |
WO (1) | WO2009119371A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013073319A1 (ja) | 2011-11-14 | 2013-05-23 | オリエンタルモーター株式会社 | 多回転アブソリュート回転角検出装置及びアブソリュート回転角を検出する方法 |
JP2013152092A (ja) * | 2012-01-24 | 2013-08-08 | Iai:Kk | 多回転アブソリュートロータリーエンコーダ |
US9513142B2 (en) | 2011-01-07 | 2016-12-06 | Oriental Motor Co., Ltd. | Device for detecting multi-turn absolute rotation angle and method for detecting the same |
JP2017049192A (ja) * | 2015-09-04 | 2017-03-09 | キヤノン株式会社 | 位置検出装置、レンズ装置、および撮像装置 |
JP2017096756A (ja) * | 2015-11-24 | 2017-06-01 | Kyb株式会社 | ストローク検出装置 |
US9841947B2 (en) | 2011-07-12 | 2017-12-12 | Oriental Motor Co., Ltd. | Device and method for calculating absolute amount of displacement, and method for same |
US11312008B2 (en) | 2018-10-31 | 2022-04-26 | Seiko Epson Corporation | Robot system, robot, robot control device, robot control method, and encoder |
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TR201816551T4 (tr) * | 2010-08-24 | 2018-11-21 | Rotork Controls | Çoklu dönüş üzerinden bir girdi elemanının bir açısal konumunun bir göstergesini sağlamak için uyarlanan aparat. |
CN102322881A (zh) * | 2011-05-30 | 2012-01-18 | 扬州电力设备修造厂 | 一种非接触式无源保持光磁多回转绝对位置传感器 |
WO2013157279A1 (ja) * | 2012-04-17 | 2013-10-24 | 三菱電機株式会社 | 多回転エンコーダ |
CN104995486B (zh) * | 2013-02-26 | 2017-08-11 | 斯凯孚公司 | 角度传感器、轴承单元、电机、控制系统及误差检验系统 |
CN108474673B (zh) * | 2016-01-18 | 2021-04-16 | 株式会社尼康 | 编码器装置、驱动装置、载物台装置及机器人装置 |
DE102016105964A1 (de) * | 2016-04-01 | 2017-10-05 | Robert Bosch Automotive Steering Gmbh | Verfahren zur Lenkwinkelermittlung in einem Lenksystem mit elektrischem Servomotor |
KR101902385B1 (ko) * | 2017-03-07 | 2018-09-28 | 노공환 | 유량조절부재 구동기 위치 검출 장치 |
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JP7234577B2 (ja) * | 2018-10-31 | 2023-03-08 | セイコーエプソン株式会社 | ロボットシステム、ロボット制御方法、及びエンコーダー |
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2008
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-
2009
- 2009-03-16 KR KR1020107021423A patent/KR101535094B1/ko active IP Right Grant
- 2009-03-16 CN CN2009801105402A patent/CN101981409B/zh active Active
- 2009-03-16 US US12/934,456 patent/US8526013B2/en active Active
- 2009-03-16 EP EP09724706.8A patent/EP2259016A4/en not_active Withdrawn
- 2009-03-16 WO PCT/JP2009/055068 patent/WO2009119371A1/ja active Application Filing
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JPH11500828A (ja) * | 1995-02-28 | 1999-01-19 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 回転体における角度測定方法及び装置 |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9513142B2 (en) | 2011-01-07 | 2016-12-06 | Oriental Motor Co., Ltd. | Device for detecting multi-turn absolute rotation angle and method for detecting the same |
US9841947B2 (en) | 2011-07-12 | 2017-12-12 | Oriental Motor Co., Ltd. | Device and method for calculating absolute amount of displacement, and method for same |
WO2013073319A1 (ja) | 2011-11-14 | 2013-05-23 | オリエンタルモーター株式会社 | 多回転アブソリュート回転角検出装置及びアブソリュート回転角を検出する方法 |
KR20140099867A (ko) | 2011-11-14 | 2014-08-13 | 오리엔탈모터가부시끼가이샤 | 다회전 앱솔루트 회전각 검출 장치 및 앱솔루트 회전각을 검출하는 방법 |
US9528855B2 (en) | 2011-11-14 | 2016-12-27 | Oriental Motor Co., Ltd. | Multi-turn absolute rotation angle detection device and method of detecting absolute rotation angle |
JP2013152092A (ja) * | 2012-01-24 | 2013-08-08 | Iai:Kk | 多回転アブソリュートロータリーエンコーダ |
JP2017049192A (ja) * | 2015-09-04 | 2017-03-09 | キヤノン株式会社 | 位置検出装置、レンズ装置、および撮像装置 |
US10859410B2 (en) | 2015-09-04 | 2020-12-08 | Canon Kabushiki Kaisha | Position detection apparatus, lens apparatus, and image pickup apparatus |
JP2017096756A (ja) * | 2015-11-24 | 2017-06-01 | Kyb株式会社 | ストローク検出装置 |
US11312008B2 (en) | 2018-10-31 | 2022-04-26 | Seiko Epson Corporation | Robot system, robot, robot control device, robot control method, and encoder |
Also Published As
Publication number | Publication date |
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US20110026040A1 (en) | 2011-02-03 |
EP2259016A1 (en) | 2010-12-08 |
WO2009119371A1 (ja) | 2009-10-01 |
CN101981409B (zh) | 2013-03-20 |
KR101535094B1 (ko) | 2015-07-08 |
EP2259016A4 (en) | 2017-03-29 |
US8526013B2 (en) | 2013-09-03 |
JP4617368B2 (ja) | 2011-01-26 |
CN101981409A (zh) | 2011-02-23 |
KR20100133387A (ko) | 2010-12-21 |
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