JP2015215302A - 角度検出装置および角度検出装置を利用したサーボ装置 - Google Patents
角度検出装置および角度検出装置を利用したサーボ装置 Download PDFInfo
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- JP2015215302A JP2015215302A JP2014099761A JP2014099761A JP2015215302A JP 2015215302 A JP2015215302 A JP 2015215302A JP 2014099761 A JP2014099761 A JP 2014099761A JP 2014099761 A JP2014099761 A JP 2014099761A JP 2015215302 A JP2015215302 A JP 2015215302A
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- Prior art keywords
- magnet
- detection device
- angle detection
- magnetic sensor
- output
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/02—Model aircraft
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- 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
- G01D5/14—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 the magnitude of a current or voltage
-
- 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
- G01D5/14—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 the magnitude of a current or voltage
- G01D5/142—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 the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—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 the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
Abstract
Description
以下、図1から図3を引用して発明を実施するための実施例1を説明する。図1はサーボ装置の構成を示したブロック図である。図2はサーボ装置の制御部の構成を示したブロック図である。図3は角度検出装置6の磁石7と磁気センサ8の配置を模式的に示した図である。図3(a)は出力軸5方向から磁石7を見た図、図3(b)は図3(a)をP方向から見た図である。
実施例2は、磁石の配置方法が実施例1の角度検出装置及びサーボ装置とは異なる。その他の構成については、実施例1と同様なので説明を省略する。
実施例3は、磁石の配置方法が実施例1の角度検出装置及びサーボ装置とは異なる。その他の構成については、実施例1と同様なので説明を省略する。
比較例の構成について、図4を用いて説明する。比較例は特許文献1に示されているように磁石を磁気センサに対して平行に配置した角度検出装置及びサーボ装置である。図4(b)の実線で示したのが比較例での磁石7’の配置位置であり、点線で示したのが実施例で示した磁石7の配置位置である。その他の構成については実施例1と同様なので説明を省略する。
実施例1と比較例1を比較した結果を図5に示す。また、実施例2と比較例2を比較した結果を図6(a)に示す。さらに、実施例3と比較例3を比較した結果を図6(b)に示す。なお、磁気センサ8であるリニアホールICは、印加電圧が3Vであり、0から3Vの間で電圧を出力するものを使用している。
2…制御部
3、11…モータ
4、12…減速機
5、13…出力軸
6…角度検出装置
7、7’、14…磁石
8、8’、15…磁気センサ
Claims (6)
- 回転可能に支持された磁石と、
磁石に対向して配置された磁気センサと、
前記磁石の回転による磁束の変化で前記磁気センサの出力を変化させる角度検出装置において、
前記磁石の回転によって前記磁気センサと前記磁石の距離が変化するように前記磁石を配置したことを特徴とする角度検出装置。 - 請求項1に記載の角度検出装置において、
前記磁石は回転可能な軸に取り付けられており、
前記軸に対して前記磁石が傾けて配置されていることを特徴とする角度検出装置。 - 請求項1または2に記載の角度検出装置において、
前記磁石は円板形状であり、前記円板の中心を通過する直線に対して対称に2極に着磁されたことを特徴とする角度検出装置。 - 請求項3に記載の角度検出装置において、
前記磁石は回転可能な軸に取り付けられており、
前記磁石を着磁の境界面に沿って傾けて前記軸に配置されていることを特徴とする角度検出装置。 - 請求項1から4のいずれかひとつの角度検出装置において、
前記磁気センサはホール素子と、
増幅回路を備えていることを特徴とする角度検出装置。 - 請求項1から5のいずれかひとつの角度検出装置と、
モータと、
前記モータと連結し、前記モータの出力を減速する減速機と、
前記減速機に連結し、前記角度検出装置が取り付けられた出力軸と、
前記角度検出装置の出力と外部から入力された操縦信号を比較し、差分がゼロとなるように前記モータを回転制御する制御部とを備えた、サーボ装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014099761A JP6209486B2 (ja) | 2014-05-13 | 2014-05-13 | 角度検出装置および角度検出装置を利用したサーボ装置 |
US14/709,911 US9770668B2 (en) | 2014-05-13 | 2015-05-12 | Angle detecting device and servo apparatus using same |
DE102015006219.0A DE102015006219B4 (de) | 2014-05-13 | 2015-05-13 | Winkelerfassungsvorrichtung und Servo-Vorrichtung, die diese Winkelerfassungsvorrichtung verwendet |
KR1020150066511A KR20150130252A (ko) | 2014-05-13 | 2015-05-13 | 각도 검출 장치 및 각도 검출 장치를 이용한 서보 장치 |
KR1020170044564A KR102130951B1 (ko) | 2014-05-13 | 2017-04-06 | 각도 검출 장치 및 각도 검출 장치를 이용한 서보 장치 |
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JP2014099761A JP6209486B2 (ja) | 2014-05-13 | 2014-05-13 | 角度検出装置および角度検出装置を利用したサーボ装置 |
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JP2015215302A true JP2015215302A (ja) | 2015-12-03 |
JP6209486B2 JP6209486B2 (ja) | 2017-10-04 |
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US (1) | US9770668B2 (ja) |
JP (1) | JP6209486B2 (ja) |
KR (2) | KR20150130252A (ja) |
DE (1) | DE102015006219B4 (ja) |
Families Citing this family (3)
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JP6053424B2 (ja) * | 2012-09-25 | 2016-12-27 | キヤノン株式会社 | ロボット装置、ロボット制御方法、プログラム及び記録媒体 |
US10048091B1 (en) * | 2017-05-30 | 2018-08-14 | Infineon Technologies Ag | Magnetic multimedia control element |
JP7080152B2 (ja) * | 2018-10-11 | 2022-06-03 | 東京エレクトロン株式会社 | 回転角度検出装置及び回転角度検出方法、並びにこれらを用いた基板処理装置及び基板処理方法 |
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2014
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2015
- 2015-05-12 US US14/709,911 patent/US9770668B2/en active Active
- 2015-05-13 KR KR1020150066511A patent/KR20150130252A/ko active Application Filing
- 2015-05-13 DE DE102015006219.0A patent/DE102015006219B4/de active Active
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- 2017-04-06 KR KR1020170044564A patent/KR102130951B1/ko active IP Right Grant
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Publication number | Publication date |
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US20150330811A1 (en) | 2015-11-19 |
KR20150130252A (ko) | 2015-11-23 |
DE102015006219A1 (de) | 2015-11-19 |
KR20170040181A (ko) | 2017-04-12 |
DE102015006219B4 (de) | 2022-12-22 |
JP6209486B2 (ja) | 2017-10-04 |
KR102130951B1 (ko) | 2020-07-07 |
US9770668B2 (en) | 2017-09-26 |
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