JP5050817B2 - Magnetic encoder - Google Patents
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- JP5050817B2 JP5050817B2 JP2007311878A JP2007311878A JP5050817B2 JP 5050817 B2 JP5050817 B2 JP 5050817B2 JP 2007311878 A JP2007311878 A JP 2007311878A JP 2007311878 A JP2007311878 A JP 2007311878A JP 5050817 B2 JP5050817 B2 JP 5050817B2
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本発明は、主に各種産業用機器に使用されるサーボモータなどに搭載され、特に小型化に適した磁気式エンコーダに関する。
The present invention relates to a magnetic encoder that is mounted on a servo motor or the like mainly used in various industrial equipment and is particularly suitable for miniaturization.
従来より回転体の回転数や回転角度位置を検出するためのエンコーダには、光学式、光電式、磁気式、静電式などがあり、主として光学式と磁気式が用いられている。
磁気式エンコーダとしては、周方向に多極着磁した磁気ドラムと磁界検出素子からなる磁気ドラム型や、歯車形状またはスリットを有するディスクと磁界検出素子および永久磁石からなるリラクタンス型の磁気式エンコーダが用いられているが、小型化に適した磁気式エンコーダとして、２極着磁した永久磁石と磁界検出素子からなる１Ｘ型の磁気式エンコーダがある。
Conventionally, there are optical, photoelectric, magnetic, electrostatic and the like encoders for detecting the rotational speed and rotational angle position of a rotating body, and optical and magnetic methods are mainly used.
Magnetic encoders include a magnetic drum type composed of a magnetic drum and a magnetic field detection element magnetized in the circumferential direction, and a reluctance type magnetic encoder composed of a disk having a gear shape or slit, a magnetic field detection element, and a permanent magnet. As a magnetic encoder suitable for miniaturization, there is a 1X type magnetic encoder comprising a permanent magnet with two poles and a magnetic field detecting element.
以下に、従来の１Ｘ型の磁気式エンコーダおよびそれに用いられる磁気回路について説明する。
（第１の従来例）
第１の従来例を図６に示す。図６は、従来の円板形状の永久磁石を用いた１Ｘ型磁気式エンコーダの平面断面図である（例えば、特許文献１）。図６において、１０１は円板形状の永久磁石、１０３は永久磁石の磁化の方向、１２１は磁界検出素子である。
ここで、２極着磁した円板形状の永久磁石１０１の発生磁界を磁界検出素子１２１で検出すると、１周期／回転（１Ｘ）の正弦波信号が得られ、この信号から１回転内の絶対角度位置情報が得られる。しかし、磁界検出素子や永久磁石の取り付け精度によって得られる角度位置精度が劣化してしまう。
A conventional 1X type magnetic encoder and a magnetic circuit used therefor will be described below.
(First conventional example)
A first conventional example is shown in FIG. FIG. 6 is a plan sectional view of a conventional 1X magnetic encoder using a disk-shaped permanent magnet (for example, Patent Document 1). In FIG. 6, 101 is a disk-shaped permanent magnet, 103 is the direction of magnetization of the permanent magnet, and 121 is a magnetic field detection element.
Here, when the magnetic field generated by the disk-shaped permanent magnet 101 magnetized with two poles is detected by the magnetic field detection element 121, a sine wave signal of 1 cycle / rotation (1X) is obtained, and an absolute value within one rotation is obtained from this signal. Angular position information is obtained. However, the angular position accuracy obtained by the mounting accuracy of the magnetic field detection element and the permanent magnet deteriorates.
（第２の従来例）
第２の従来例として、図７に示したように、円筒形状の永久磁石を用いた１Ｘ型磁気式エンコーダが提案されている（例えば、特許文献２）。図７において、１０２は円筒形状の永久磁石、１１１は外壁であり、残りは第１の従来例と同じであるため説明を省略する。
この構成によれば、円筒形状の永久磁石１０２の内側の空間に配置した磁界検出素子１２１で１周期／回転の疑似正弦波信号が得られるので、磁気式エンコーダとして用いることができる。また、円筒形状の永久磁石の内側の空間には均一な磁界が得られるので、磁界検出素子や永久磁石の取り付け精度への配慮は不要である。しかし、外壁１１１の材質や寸法などが規定されておらず、得られる角度位置精度は高くない。
(Second conventional example)
As a second conventional example, as shown in FIG. 7, a 1X magnetic encoder using a cylindrical permanent magnet has been proposed (for example, Patent Document 2). In FIG. 7, reference numeral 102 denotes a cylindrical permanent magnet, 111 denotes an outer wall, and the rest is the same as that of the first conventional example, and the description thereof is omitted.
According to this configuration, a pseudo sine wave signal of 1 cycle / rotation can be obtained by the magnetic field detection element 121 arranged in the space inside the cylindrical permanent magnet 102, and can be used as a magnetic encoder. In addition, since a uniform magnetic field is obtained in the space inside the cylindrical permanent magnet, it is not necessary to consider the mounting accuracy of the magnetic field detection element and the permanent magnet. However, the material and dimensions of the outer wall 111 are not defined, and the obtained angular position accuracy is not high.
（第３の従来例）
第３の従来例を図８に示す。図８も、円筒形状の永久磁石を用いた１Ｘ型磁気式エンコーダであるが、円筒形状の永久磁石１０２の外側に円筒形状の強磁性体を配置することを明示している。すなわち、図８において、１１２は円筒形状の強磁性体であり、残りは第１および第２の従来例と同じであるため説明を省略する。
この構成によれば、磁界検出素子１２１で高調波歪みの少ない正弦波波形が得られるので、高精度の角度位置情報が得られる。
A third conventional example is shown in FIG. FIG. 8 also shows a 1X type magnetic encoder using a cylindrical permanent magnet, but clearly shows that a cylindrical ferromagnetic body is disposed outside the cylindrical permanent magnet 102. That is, in FIG. 8, reference numeral 112 denotes a cylindrical ferromagnetic body, and the rest is the same as in the first and second conventional examples, and the description thereof is omitted.
According to this configuration, a sinusoidal waveform with less harmonic distortion can be obtained by the magnetic field detection element 121, so that highly accurate angular position information can be obtained.
ところが、第３の従来例の構成においても使用する永久磁石の残留磁束密度などの磁気特性の違いや永久磁石の厚み、円筒形状の強磁性体の厚みなどの形状の違いによって角度位置特性がばらつき、十分に安定した高精度の角度位置情報が得られないという課題があった。 However, even in the configuration of the third conventional example, the angular position characteristics vary due to differences in magnetic characteristics such as the residual magnetic flux density of the permanent magnet used, and differences in shape such as the thickness of the permanent magnet and the thickness of the cylindrical ferromagnetic material. There is a problem that sufficiently stable and highly accurate angular position information cannot be obtained.
本発明はこのような問題点を鑑みてなされたものであり、高調波歪みが極めて少ない正弦波波形を得ることができ、これにより高精度の角度位置情報が得られる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 in view of such problems, and provides a magnetic encoder that can obtain a sinusoidal waveform with extremely low harmonic distortion and thereby obtain highly accurate angular position information. With the goal.
上記問題を解決するため、本発明は、次のように構成したものである。
すなわち、本発明の一の観点による磁気式エンコーダは、２極着磁した円筒形状の永久磁石と、前記永久磁石の外周に設けられ、前記永久磁石の内側の空間に均一な磁界強度を有する磁気回路を構成する円筒形状の強磁性体と、前記磁気回路の回転による磁界の変化を検出する磁界検出素子と、前記磁気回路と前記磁界検出素子との相対的な回転による前記磁界検出素子からの出力信号を処理する処理回路とを備えた磁気式エンコーダにおいて、前記永久磁石の材質、密度から決まる残留磁束密度をＢｒ、前記永久磁石の肉厚をｔｍ、強磁性体の肉厚をｔｙとしたとき、永久磁石の肉厚ｔｍを永久磁石の肉厚ｔｍと強磁性体の肉厚ｔｙの和で除した比で求められる永久磁石の肉厚比ｋｍを、使用する永久磁石の前記残留磁束密度Ｂｒが高いときには肉厚比ｋｍを小さく、前記残留磁束密度Ｂｒが低いときには肉厚比ｋｍを大きくしたことを特徴とする。
また、上記一の観点による磁気式エンコーダは、永久磁石の残留磁束密度Ｂｒが１．０Ｔ以上の場合、永久磁石の肉厚比ｋｍが０．５未満であることを特徴としてもよい。
また、上記一の観点による磁気式エンコーダは、永久磁石の残留磁束密度Ｂｒが０．５５Ｔ以上１．０Ｔ未満の範囲の場合、永久磁石の肉厚比ｋｍが０．５以上ら０．６５未満の範囲であることを特徴としてもよい。
また、上記一の観点による磁気式エンコーダは、永久磁石の残留磁束密度Ｂｒが０．５５Ｔ未満の場合、永久磁石の肉厚比ｋｍが０．６５以上であることを特徴としてもよい。
また、上記一の観点による磁気式エンコーダは、前記磁気回路の内側の空間に前記磁界検出素子を設置したことを特徴としてもよい。
In order to solve the above problems, the present invention is configured as follows.
In other words, a magnetic encoder according to one aspect of the present invention is a magnet having a uniform magnetic field strength in a space inside a permanent magnet, a cylindrical permanent magnet magnetized with two poles, and an outer periphery of the permanent magnet. A cylindrical ferromagnetic body constituting a circuit, a magnetic field detection element for detecting a change in magnetic field due to rotation of the magnetic circuit, and a magnetic field detection element from the magnetic field detection element by relative rotation of the magnetic circuit and the magnetic field detection element. In a magnetic encoder having a processing circuit for processing an output signal, Br is a residual magnetic flux density determined by the material and density of the permanent magnet, tm is a thickness of the permanent magnet, and ty is a thickness of the ferromagnetic material. The permanent magnet thickness ratio km obtained by dividing the permanent magnet thickness tm by the sum of the permanent magnet thickness tm and the ferromagnetic thickness ty is the residual magnetic flux density of the permanent magnet used. If Br is high Reduced km thickness ratio is, the when the residual magnetic flux density Br is low, characterized in that increasing the km thickness ratio.
Further, the magnetic encoder according to the first aspect may be characterized in that when the residual magnetic flux density Br of the permanent magnet is 1.0 T or more, the thickness ratio km of the permanent magnet is less than 0.5 .
Further, in the magnetic encoder according to the above one aspect, when the residual magnetic flux density Br of the permanent magnet is in the range of 0.55 T or more and less than 1.0 T, the thickness ratio km of the permanent magnet is 0.5 or more and less than 0.65. It may be characterized by being in the range .
Further, the magnetic encoder according to the first aspect may be characterized in that when the residual magnetic flux density Br of the permanent magnet is less than 0.55 T, the thickness ratio km of the permanent magnet is 0.65 or more .
In the magnetic encoder according to the first aspect, the magnetic field detection element may be installed in a space inside the magnetic circuit .
本発明の一の観点による磁気式エンコーダによると、どのような磁気特性の永久磁石を用いても非常に高調波歪みの少ない正弦波波形を得ることができ、これにより角度位置情報が極めて高い磁気式エンコーダを提供できる。
According to the magnetic encoder according to one aspect of the present invention, a sinusoidal waveform with very little harmonic distortion can be obtained even if a permanent magnet having any magnetic characteristic is used. A type encoder can be provided.
以下、本発明の実施の形態について図を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図１は、本発明の第１の実施例を示す磁気回路の平面断面図である。図１において、１は円筒形状の永久磁石、２は永久磁石の磁化の方向、１１は円筒形状の強磁性体である。このような構成により、円筒形状の永久磁石１の内側の空間に均一な磁界が得られる。
図２は、図１の磁気回路を用いた磁気式エンコーダの平面断面図である。図２において、２１は磁界検出素子であり、残りは図１と同じであるため省略する。このような構成により、磁気回路の内側の均一な磁界を磁界検出素子２１で検出することにより、１周期／回転の正弦波波形の信号が得られ、回転角度位置情報を得ることができる。
本発明が従来技術、特に従来例３と異なる点は、以下のように寸法を規定することである。
FIG. 1 is a cross-sectional plan view of a magnetic circuit showing a first embodiment of the present invention. In FIG. 1, 1 is a cylindrical permanent magnet, 2 is the direction of magnetization of the permanent magnet, and 11 is a cylindrical ferromagnetic material. With such a configuration, a uniform magnetic field can be obtained in the space inside the cylindrical
FIG. 2 is a plan sectional view of a magnetic encoder using the magnetic circuit of FIG. In FIG. 2, 21 is a magnetic field detection element, and the rest is the same as FIG. With such a configuration, a uniform magnetic field inside the magnetic circuit is detected by the magnetic field detection element 21, whereby a signal having a sinusoidal waveform of 1 cycle / rotation can be obtained and rotation angle position information can be obtained.
The present invention is different from the prior art, particularly the conventional example 3 in that the dimensions are defined as follows.
円筒形状の永久磁石１の肉厚をｔｍ、円筒形状の強磁性体１１の肉厚をｔｙとし、以下
の式で定義する永久磁石の肉厚比ｋｍを０．３から０．８の範囲で調べた。
ｋｍ＝ｔｍ／（ｔｍ＋ｔｙ）
図３は本発明の磁気回路を用いた磁気式エンコーダの角度誤差曲線を示す。角度誤差は
、磁界検出素子２１が出力した４個の信号に差動処理や位相調整を施してから回転角度を
導出し、基準エンコーダの値を差し引いて求めた。ここで、用いた円筒形状の永久磁石は
Ｓｍ−Ｃｏ系焼結磁石であり、残留磁束密度Ｂｒは１．０６Ｔ、永久磁石の肉厚比ｋｍは
０．３６、０．５０、０．６３の３種類とした。
４周期／回転の角度誤差曲線が得られるが、この角度誤差曲線の振幅値（ｐ−ｐ値）を
角度誤差値と呼ぶことにする。図３より、肉厚比ｋｍによって角度誤差曲線の極性が異な
ることが分かるが、この極性より角度誤差値に符号を付加した。
The thickness of the cylindrical
km = tm / (tm + ty)
FIG. 3 shows an angle error curve of a magnetic encoder using the magnetic circuit of the present invention. The angle error was obtained by subjecting the four signals output from the magnetic field detection element 21 to differential processing and phase adjustment, deriving the rotation angle, and subtracting the value of the reference encoder. Here, the cylindrical permanent magnet used is an Sm — Co sintered magnet, the residual magnetic flux density Br is 1.06 T, and the thickness ratio km of the permanent magnet is 0.36, 0.50, 0.63. There were three types.
4 cycles / rotation angular error curve is obtained, the amplitude value of the angular error curve - will be referred to as (p p value) and the angular error value. From FIG. 3, it can be seen that the polarity of the angle error curve differs depending on the wall thickness ratio km.
図４は様々な永久磁石での角度誤差値の肉厚比ｋｍに対する依存性を調べた結果を示す。角度誤差値が零となる肉厚比ｋｍが存在する。
また、図５は永久磁石の残留磁束密度Ｂｒと上記角度誤差値が零となる最適な永久磁石の肉厚比ｋｍの関係を示す。
今回用いた永久磁石は、フェライト系焼結磁石（Ｂｒ＝０．４０Ｔ）からＮｄ−Ｆｅ−Ｂ系焼結磁石（Ｂｒ＝１．１７Ｔ）であるが、これらよりも磁気特性（残留磁束密度）が低い永久磁石も高い永久磁石も存在する。そのことを考慮して、高精度な磁気式エンコーダ用の磁気回路における永久磁石の肉厚比ｋｍは、０．３から０．８の範囲であることが望ましい。
FIG. 4 shows the results of examining the dependence of the angle error value on the thickness ratio km in various permanent magnets. There is a thickness ratio km at which the angle error value becomes zero.
FIG. 5 shows the relationship between the residual magnetic flux density Br of the permanent magnet and the optimum thickness ratio km of the permanent magnet in which the angle error value is zero.
Permanent magnets used this time range from ferrite-based sintered magnets (Br = 0.40T) to Nd - Fe - B-based sintered magnets (Br = 1.17T), but magnetic properties (residual magnetic flux density) than these. There are low and high permanent magnets. In view of this, it is desirable that the thickness ratio km of the permanent magnet in the magnetic circuit for the high-precision magnetic encoder is in the range of 0.3 to 0.8.
また、永久磁石の残留磁束密度Ｂｒが高いときには永久磁石の肉厚比ｋｍを小さく、永久磁石の残留磁束密度Ｂｒが低いときには永久磁石の肉厚比ｋｍを大きくし、角度誤差値が零となるように肉厚比を選び、これから永久磁石の厚みと強磁性体の厚みを決定した磁気式エンコーダを構成すれば、高調波歪の極めて少ない正弦波信号を磁界検出素子から得ることが出来、角度位置情報が極めて高い磁気式エンコーダを実現することができる。 Further, when the permanent magnet residual magnetic flux density Br is high, the permanent magnet thickness ratio km is decreased, and when the permanent magnet residual magnetic flux density Br is low, the permanent magnet thickness ratio km is increased, and the angular error value becomes zero. In this way, a magnetic encoder in which the thickness ratio is selected and the thickness of the permanent magnet and the thickness of the ferromagnetic material is determined can be used to obtain a sinusoidal signal with extremely low harmonic distortion from the magnetic field detection element. A magnetic encoder with extremely high position information can be realized.
図４および図５の結果から角度誤差値を約1度以内に収めるための本発明のより望ましい条件は、以下の通りとなる。
・永久磁石の残留磁束密度Ｂｒが１．０Ｔ以上では、永久磁石の肉厚比ｋｍが０．５未満。
・永久磁石の残留磁束密度Ｂｒが０．５５Ｔ以上１．０Ｔ未満の範囲では、永久磁石の肉厚比ｋｍが０．５以上０．６５未満の範囲。
・永久磁石の残留磁束密度Ｂｒが０．５５Ｔ未満では、永久磁石の肉厚比ｋｍが０．６５以上。
From the results shown in FIGS. 4 and 5, the more desirable conditions of the present invention for keeping the angle error value within about 1 degree are as follows.
-When the residual magnetic flux density Br of the permanent magnet is 1.0 T or more, the thickness ratio km of the permanent magnet is less than 0.5.
-In the range where the residual magnetic flux density Br of the permanent magnet is 0.55T or more and less than 1.0T, the thickness ratio km of the permanent magnet is in the range of 0.5 or more and less than 0.65.
-If the residual magnetic flux density Br of the permanent magnet is less than 0.55T, the thickness ratio km of the permanent magnet is 0.65 or more.
また、図５から判るように最適な永久磁石の肉厚比ｋｍは、永久磁石の残留磁束密度Ｂｒに対して反比例の関係にあり、以下の近似式で表される。
すなわち、ｋｍ=０.８７２−０.３７３×Ｂｒ±αである。
ここで、αは、磁気式エンコーダの製造工程において生じる寸法公差など不可避な要因に対する許容誤差である。
前述の関係から永久磁石の残留磁束密度Ｂｒに基づいて最適なｋｍを求め、このｋｍを満たす永久磁石１の厚みおよび強磁性体１１の厚みで磁気式エンコーダを構成することによって、より高精度な磁気式エンコーダが実現できる。
Further, as can be seen from FIG. 5, the optimum thickness ratio km of the permanent magnet is inversely proportional to the residual magnetic flux density Br of the permanent magnet, and is expressed by the following approximate expression.
That, km = 0.872 - a 0.373 × Br ± α.
Here, α is an allowable error for an inevitable factor such as a dimensional tolerance generated in the manufacturing process of the magnetic encoder.
By calculating the optimum km based on the residual magnetic flux density Br of the permanent magnet from the above-mentioned relationship and configuring the magnetic encoder with the thickness of the
本発明の磁気式エンコーダは、簡単な構成で、小径でも高精度・高分解能であり、一回転内の絶対角度を検出でき、どのような磁気特性の永久磁石を用いても高精度の角度位置情報が得られるので、サーボモータや各種産業用機器などの装置に適用できる。
The magnetic encoder of the present invention has a simple configuration, high accuracy and high resolution even with a small diameter, can detect an absolute angle within one rotation, and can be used with a permanent magnet of any magnetic characteristics. Since information can be obtained, it can be applied to devices such as servo motors and various industrial equipment.
１ 円筒形状の永久磁石
２ 永久磁石の磁化方向
１１ 円筒形状の強磁性体
２１ 磁界検出素子
１０１ 円板形状の永久磁石
１０２ 円筒形状の永久磁石
１０３ 永久磁石の磁化方向
１１１ 外壁
１１２ 円筒形状の強磁性体
１２１ 磁界検出素子
DESCRIPTION OF
Claims (1)
前記永久磁石の外周に設けられ、前記永久磁石の内側の空間に均一な磁界強度を有する磁気回路を構成する円筒形状の強磁性体と、
前記永久磁石の内側の空間に設けられ、前記磁気回路の回転による磁界の変化を検出する磁界検出素子と、
を備え、
前記永久磁石の材質、密度から決まる前記永久磁石の残留磁束密度をＢｒとし、前記永久磁石の肉厚をｔｍとし、強磁性体の肉厚をｔｙとし、前記永久磁石の肉厚ｔｍを前記永久磁石の肉厚ｔｍと前記強磁性体の肉厚ｔｙの和で除した比で求められる永久磁石の肉厚比をｋｍとし、製造工程における許容誤差をαとした場合において、
前記残留磁束密度と前記肉厚比との関係が、
ｋｍ＝０．８７２−０．３７３×Ｂｒ±α
である磁気式エンコーダ。 A cylindrical permanent magnet with two poles,
A cylindrical ferromagnetic body that is provided on the outer periphery of the permanent magnet and forms a magnetic circuit having a uniform magnetic field strength in the space inside the permanent magnet;
A magnetic field detection element that is provided in a space inside the permanent magnet and detects a change in a magnetic field due to rotation of the magnetic circuit ;
With
The permanent magnet residual magnetic flux density determined from the material and density of the permanent magnet is Br, the thickness of the permanent magnet is tm, the thickness of the ferromagnetic material is ty, and the thickness tm of the permanent magnet is the permanent magnet. When the thickness ratio of the permanent magnet obtained by dividing the magnet thickness tm by the sum of the thickness ty of the ferromagnetic material is km and the allowable error in the manufacturing process is α ,
The relationship between the residual magnetic flux density and the thickness ratio is
km = 0.877−0.373 × Br ± α
Is a magnetic encoder.
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