JP2017003430A - 異物の侵入を検出可能な回転角度検出器 - Google Patents
異物の侵入を検出可能な回転角度検出器 Download PDFInfo
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- 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
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
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- 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
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- 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
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- 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
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- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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Abstract
【解決手段】回転角度検出器1は、複数のトラック部11,12を含む回転板10と、受光素子21,22にて生成される信号に基づいて異常を検出する異常検出部53とを備える。受光素子21,22は、第1のトラック部11に基づく第1の信号および第2のトラック部12に基づく第2の信号を生成する。異常検出部53は、第1の信号の変動幅と第2の信号の変動幅との差が予め定められた変動幅判定値よりも大きくなっている場合に異常が生じていると判定する判定部55を含む。
【選択図】図1
Description
図1から図6を参照して、実施の形態1における回転角度検出器について説明する。回転角度検出器は、任意の回転軸における回転角度を検出する検出器である。回転角度検出器は、モータの出力シャフトや回転力を伝達するシャフト等の回転軸に取り付けられる。本実施の形態では、所定の位置から回転した角度を検出するインクリメンタル方式の回転角度検出器を例示する。
図7から図11を参照して、実施の形態2における回転角度検出器について説明する。本実施の形態では光学式の回転角度検出器を取り上げて説明するが、磁気式の回転角度検出器にも適用することができる。本実施の形態における第1の回転角度検出器の回転体および検知部の構成は、実施の形態1における第1の回転角度検出器の構成と同様である(図1および図2参照)。本実施の形態の回転角度検出器は、回転体に付着する異物の位相を検出して制御する。
図12および図13を参照して、実施の形態3における回転角度検出器について説明する。本実施の形態では光学式の回転角度検出器を取り上げて説明するが、磁気式の回転角度検出器にも適用することができる。本実施の形態の回転角度検出器の回転体および検知部の構成は、実施の形態1における第1の回転角度検出器の構成と同様である(図1および図2参照)。本実施の形態の回転角度検出器は、検出された信号を補正する。
10 回転板
11 第1のトラック部
12 第2のトラック部
13 第3のトラック部
21 第1の受光素子
22 第2の受光素子
23 第3の受光素子
30 回転ドラム
31 第1のトラック部
32 第2のトラック部
33 第3のトラック部
41 第1のセンサ
42 第2のセンサ
43 第3のセンサ
52 角度検出部
53 異常検出部
54 変動幅算出部
55 判定部
56 記憶部
57 補正部
60 回転板
62〜66 トラック部
81 異物
Claims (3)
- 回転軸の回転角度を検出するための複数のトラック部を含む回転体と、
前記トラック部に対応して配置された検知部と、
前記検知部にて生成される信号に基づいて異常を検出する異常検出部とを備え、
前記回転体は、第1のトラック部および第2のトラック部を含み、
前記検知部は、第1のトラック部に基づく第1の信号および第2のトラック部に基づく第2の信号を生成し、
前記異常検出部は、第1の信号の変動幅および第2の信号の変動幅を算出する変動幅算出部と、第1の信号の変動幅と第2の信号の変動幅との差が予め定められた変動幅判定値よりも大きくなっている場合に異常が生じていると判定する判定部とを含む、回転角度検出器。 - 回転軸の1回転内の位相を検出する位相検出部を備え、
前記異常検出部は、第1の信号の変動幅と第2の信号の変動幅との差が前記変動幅判定値を超えている位相を検出し、
前記判定部は、回転軸が複数回の回転をした場合に、同一の位相において第1の信号の変動幅と第2の信号の変動幅との差が前記変動幅判定値を超えている場合に、異常が生じていると判定する、請求項1に記載の回転角度検出器。 - 前記異常検出部は、前記検知部にて生成された信号を補正する補正部と、回転角度検出器が正常である場合に第1の信号の変動幅と第2の信号の変動幅とを同一にする補正値を予め記憶する記憶部とを含み、
前記補正部は、第1の信号の変動幅および第2の信号のうち少なくとも一方の変動幅を前記補正値を用いて補正し、
前記判定部は、補正された後の第1の信号および第2の信号に基づいて判定する、請求項1または2に記載の回転角度検出器。
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JP2015117650A JP6363559B2 (ja) | 2015-06-10 | 2015-06-10 | 異物の侵入を検出可能な回転角度検出器 |
CN201610377873.3A CN106247924B (zh) | 2015-06-10 | 2016-05-31 | 旋转角度检测器 |
DE102016006886.8A DE102016006886B4 (de) | 2015-06-10 | 2016-06-03 | Drehwinkelerfasser, der den Eintritt von Fremdsubstanzen erfassen kann |
US15/177,812 US10527467B2 (en) | 2015-06-10 | 2016-06-09 | Rotation angle detector which can detect entry of foreign substances |
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CN109556637A (zh) * | 2017-09-26 | 2019-04-02 | 发那科株式会社 | 旋转角度检测装置 |
JP2019132730A (ja) * | 2018-01-31 | 2019-08-08 | 株式会社ミツトヨ | エンコーダおよびエンコーダの制御方法 |
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CN109556637B (zh) * | 2017-09-26 | 2020-02-07 | 发那科株式会社 | 旋转角度检测装置 |
US10627256B2 (en) | 2017-09-26 | 2020-04-21 | Fanuc Corporation | Rotation angle detecting device |
JP2019132730A (ja) * | 2018-01-31 | 2019-08-08 | 株式会社ミツトヨ | エンコーダおよびエンコーダの制御方法 |
JP7066264B2 (ja) | 2018-01-31 | 2022-05-13 | 株式会社ミツトヨ | エンコーダおよびエンコーダの制御方法 |
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US10527467B2 (en) | 2020-01-07 |
JP6363559B2 (ja) | 2018-07-25 |
CN106247924B (zh) | 2020-05-01 |
DE102016006886A1 (de) | 2016-12-15 |
CN106247924A (zh) | 2016-12-21 |
DE102016006886B4 (de) | 2022-09-15 |
US20160363469A1 (en) | 2016-12-15 |
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