JP6244632B2 - Rotation angle detector - Google Patents

Description

  The present invention relates to a rotation angle detection device.

Conventionally, there is a rotation angle detection device that detects the rotation angle of a rotation shaft such as a steering shaft.
Specifically, the rotation angle detection device includes a magnet attached to a rotation shaft to be measured, and a magnetic sensor installed at a position facing the outer peripheral surface or end surface side of the magnet. The magnet is magnetized with N and S poles at a predetermined pitch, and rotates with respect to the magnetic sensor integrally with the rotating shaft. The magnetic sensor detects a change in the magnetic field formed by the magnet as the rotating shaft rotates. For this reason, the rotation angle of a rotating shaft is detectable based on the detection result of a magnetic sensor (for example, refer patent document 1).

JP 2004-138606 A

  In the configuration described above, the distance between the magnetic sensor and the magnet changes due to the deviation of the rotation axis, which may cause a deviation in the relationship between the rotation angle of the rotation axis and the detection result of the magnetic sensor. As a result, the detection accuracy of the rotation angle detection device may be reduced.

  Also, the detection accuracy of the rotation angle detection device may similarly decrease due to variations in the magnetization pitch or magnetic flux density of the magnet. Furthermore, the detection accuracy of the rotation angle detection device may similarly decrease due to variations in the assembly position of the magnet and the magnetic sensor.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a rotation angle detection device with improved rotation angle detection accuracy.

Hereinafter, means for achieving the above-described object and its operation and effects will be described.
A rotation angle detection device that solves the above-mentioned problem is provided with a magnet that is attached to an axis to be measured and in which N poles and S poles are alternately magnetized at the same magnetization pitch interval along the circumferential direction, A magnetic yoke having a magnetic flux collecting portion for collecting magnetic flux in the radial direction of the shaft, which is disposed at a constant distance along the outer peripheral surface; and a magnetic sensor for detecting a change in the magnetic field accompanying rotation of the shaft and the magnet; And a rotation angle calculation unit that calculates a rotation angle of the shaft based on a detection result of the magnetic sensor, wherein the magnetic yoke is arranged to face each N pole of the magnet. When the first group of magnetism collecting units composed of a plurality of magnetism collecting units and the first group of magnetism collecting units face each N pole, a plurality of current collectors arranged so as to face each S pole of the magnet A second group of magnetic flux collectors composed of magnetic parts, and a magnetic flux collector of each group And a magnetic flux conducting material that guides the magnetic flux collected by the magnetic flux collecting portions of each group to the magnetic sensor, and the rotation angle detecting portion is configured by the magnet, the magnetic yoke, and the magnetic sensor. And a torsion bar and first and second shafts provided as rotating shafts at both ends of the torsion bar, and the rotation angle detector corresponds to the first and second shafts. Two torque calculators are provided for calculating the torque applied to the rotary shaft based on the difference between the rotation angles detected through the two rotation angle detectors.

  According to this configuration, when the first group of magnetic flux collectors faces each N pole, the second group of magnetic flux collectors faces each S pole. The magnetic flux collected by each group of magnetic flux collectors is guided to the magnetic sensor through the magnetic flux conductor.

  For this reason, when the first group of magnetic flux collectors faces each N pole and the second group of magnetic flux collectors faces each S pole, the magnetic flux path (magnetic path) is the N pole of the magnet, The first group of magnetic flux collectors, the magnetic flux conductors connected to these magnetic flux collectors, the magnetic sensor, the magnetic flux conductors connected to the second magnetic flux collectors, the second group of magnetic flux collectors, and the S pole of the magnet It becomes. Further, when the first group of magnetic flux collectors faces each S pole and the second group of magnetic flux collectors faces each N pole, the magnetic path is the N pole of the magnet, and the second group of magnetic flux collectors. , Magnetic flux sensor connected to the magnetic flux collector, magnetic sensor, magnetic flux conductor connected to the first magnetic flux collector, first magnetic flux collector, and S pole of the magnet.

In either case, a magnetic path can be formed on the magnetic sensor. Thereby, for example, the magnetic field change around the magnetic sensor due to the deviation of the axis, the magnetization pitch in the magnet, or the variation in the magnetic flux density can be suppressed. Therefore, the detection accuracy of the rotation angle in the rotation angle detection device can be improved.
Further, the torque can be calculated based on the difference between the rotation angles detected through the two rotation angle detection units.

In the rotation angle detection device, the magnet is preferably provided with two magnetic yokes.
For the rotation angle detecting device, before Ki磁 vapor yoke, in an arc along a portion of the outer peripheral surface of the magnet, and preferably disposed at the same height.

  According to this configuration, the two magnetic yokes are arranged in an arc shape and at the same height along a part of the outer peripheral surface of the magnet. Therefore, it is not necessary to arrange both magnetic yokes along the axial direction, and the rotation angle detecting device can be configured compactly in the axial direction.

For upper Symbol rotation angle detecting device, the rotation of the magnet in both the rotation angle detection unit is constituted by different number of poles, respectively, the rotation angle calculation unit the rotary shaft based on the angle detected through the two rotary angle detector It is preferable to calculate the angle.

  According to this configuration, the magnets in both rotation angle detection units are configured with different numbers of poles. For this reason, the period of the angle detected in one rotation angle detection part at the time of rotation of a rotating shaft differs from the period of the angle detected in the other rotation angle detection part. For this reason, the rotation angle of a rotating shaft can be specified in a wider angle range.

  About the said rotation angle detection apparatus, it is preferable that N pole and S pole are alternately arrange | positioned along the circumferential direction of the said magnet, and two magnetic poles, N pole and S pole, are arrange | positioned along the axial direction of the said magnet. .

  According to this configuration, the magnetic force can be efficiently applied to the magnetic sensor through the magnetic yoke with respect to the circumferential length of the magnet and the magnetic yoke.

  According to the present invention, in the rotation angle detection device, the detection accuracy of the rotation angle can be improved.

The side view of the rotation angle detection apparatus in 1st Embodiment. AA sectional view taken on the line AA of FIG. The elements on larger scale of FIG. The side view of the rotation angle detection apparatus in 2nd Embodiment. BB sectional drawing of FIG. The side view of the rotation angle detection apparatus in 3rd Embodiment. The side view of the rotation angle detection apparatus in 4th Embodiment. The graph which showed the angle specified from the detection result of both the magnetic sensors in 4th Embodiment. The side view of the rotation angle detection apparatus in 5th Embodiment. The side view of the rotation angle detection apparatus in other embodiment.

(First embodiment)
Hereinafter, an embodiment of a rotation angle detection device will be described with reference to FIGS.
As shown in FIG. 1, the rotation angle detection device 10 detects the rotation angle (steering angle) of a steering (not shown) connected to the steering shaft 5 through the rotation angle of the steering shaft 5.

Specifically, the rotation angle detection device 10 includes a magnet 12, two magnetic yokes 20a and 20b, two magnetic sensors 13a and 13b, and an angle calculation unit 15.
The magnet 12 is formed in an annular shape so that it can be mounted on the outer periphery of the cylindrical steering shaft 5. The magnet 12 is fixed to the outer periphery of the steering shaft 5 so as to rotate integrally with the steering shaft 5.

  As shown in FIG. 2, the magnet 12 is alternately magnetized with N and S poles along the circumferential direction. In this example, the magnet 12 is formed such that the magnetization pitch of each pole is the same angle α (α = 30 °).

  As shown in FIG. 1, the two magnetic yokes 20 a and 20 b are formed of a magnetic material and are fixed to the outer periphery of the magnet 12. Each of the magnetic yokes 20a and 20b includes magnetic flux conducting materials 23a and 23b, a first group of magnetic flux collectors 24a, and a second group of magnetic flux collectors 24b.

Both magnetic yokes 20a and 20b are formed in the same shape. Here, only the first magnetic yoke 20a will be described as a representative.
The magnetic flux guides 23a and 23b are formed in an annular line so as to surround the outer periphery of the magnet 12, and are spaced apart from each other in the vertical direction (axial direction). The end portions of the magnetic flux conducting members 23a and 23b are formed so as to sandwich the magnetic sensor 13a located on the side of the magnet 12.

  The first magnetic flux conducting member 23a is formed with a plate-like magnetic flux collecting portion 24a that protrudes downward at every constant angle β. These magnetic flux collectors 24a constitute a first magnetic flux collector 24a. This constant angle β is twice the angle α. Each of the magnetism collecting portions 24a is formed in an isosceles triangle shape in which the width W in the left-right direction in the drawing becomes smaller as going downward in the drawing.

  The second magnetic flux conducting member 23b is formed with a plate-like magnetic flux collecting portion 24b that protrudes upward at every constant angle β. These magnetic flux collectors 24b constitute a second magnetic flux collector 24b. Each magnetism collecting portion 24b is formed in an isosceles triangle shape in which the width W in the left-right direction in the drawing becomes smaller toward the upper side in the drawing. Each magnetic sensor 13a, 13b is, for example, a Hall IC.

  The first group of magnetism collecting portions 24a and the second group of magnetism collecting portions 24b are positioned at substantially the same height, and are offset from each other by a certain angle α. Therefore, the two magnetism collecting portions 24 a and 24 b are alternately arranged along the circumferential direction of the magnet 12. Both magnetic yokes 20a and 20b are provided at positions shifted from each other by a fixed angle γ.

The two magnetic yokes 20 a and 20 b collect magnetic flux in the radial direction of the magnet 12.
Further, as shown in FIG. 3 in an enlarged manner, the magnetic flux path includes the N pole of the magnet 12 in the magnetic yoke 20a, the first group of magnetism collecting portions 24a corresponding to the N pole, the magnetic flux conducting member 23a, and the magnetic sensor 13a. , The magnetic flux conducting material 23b, the second group of magnetism collecting portions 24b corresponding to the S pole of the magnet 12, and the S pole of the magnet 12. Therefore, a magnetic path can be formed on the magnetic sensor 13a.

  The magnetic yoke 20b has the same configuration as the magnetic yoke 20a, but is fixed at a position rotated in the circumferential direction of the magnet 12 by a certain angle γ with respect to the magnetic yoke 20a. A magnetic sensor 13b is provided corresponding to the magnetic yoke 20b.

Next, the operation of the rotation angle detection device 10 will be described.
As the steering shaft 5 rotates, the magnet 12 rotates about the magnetic yokes 20a and 20b. Each magnetic sensor 13a, 13b outputs a signal (voltage) corresponding to the position of the magnetic flux collectors 24a, 24b with respect to the S pole and N pole of the magnet 12. Specifically, when the first group of magnetic flux collectors 24a faces each N pole, the second group of magnetic flux collectors 24b faces each S pole.

  At this time, as shown in FIG. 3, the magnetic flux path (magnetic path) includes the N pole of the magnet 12, the first group of magnetic collecting portions 24 a, the magnetic flux conducting material 23 a connected to these magnetic collecting portions 24 a, and the magnetic sensor. 13a, the magnetic flux conducting material 23b, the second group of magnetic collecting portions 24b, and the south pole of the magnet 12. In addition, when the first group of magnetic collecting portions 24a faces each S pole and the second group of magnetic collecting portions 24b faces each N pole, the magnetic path is the N pole of the magnet 12, the second group. Magnetic flux collecting parts 24b, magnetic flux conducting material 23b connected to these magnetic collecting parts 24b, magnetic sensor 13a, magnetic flux conducting material 23a, first group of magnetic flux collecting parts 24a, and S pole of magnet 12. In either case, a magnetic path can be formed on the magnetic sensor 13a. Similarly, the magnetic yoke 20b forms a magnetic path on the magnetic sensor 13b.

  Further, as described above, since both magnetic yokes 20a and 20b are provided at positions shifted from each other by a fixed angle γ, both magnetic sensors 13a and 13b can output signals whose phases are shifted from each other to the angle calculator 15 (rotation angle). To the arithmetic unit). Accordingly, the first magnetic sensor 13a outputs a Sin wave signal Ssin, and the second magnetic sensor 13b outputs a Cos wave signal Scos. The angle calculator 15 detects the rotation angle of the steering shaft 5 based on both signals Ssin and Scos.

As described above, according to the embodiment described above, the following effects can be obtained.
(1) When the first group of magnetic flux collectors 24a faces each N pole and the second group of magnetic flux collectors 24b faces each S pole, the path of magnetic flux (magnetic path) N pole, first group of magnetic collecting parts 24a, magnetic flux conducting material 23a connected to these magnetic collecting parts 24a, magnetic sensor 13a, magnetic flux conducting material 23b, second group of magnetic collecting parts 24b, and S pole of magnet 12. Become.

  In addition, when the first group of magnetic collecting portions 24a faces each S pole and the second group of magnetic collecting portions 24b faces each N pole, the magnetic path is the N pole of the magnet 12, the second group. Magnetic flux collecting parts 24b, magnetic flux conducting material 23b connected to these magnetic collecting parts 24b, magnetic sensor 13a, magnetic flux conducting material 23a, first group of magnetic flux collecting parts 24a, and S pole of magnet 12. Thus, a magnetic path can be formed on the magnetic sensor 13a. Similarly, the magnetic yoke 20b forms a magnetic path on the magnetic sensor 13b.

  In either case, a magnetic path can be formed on the magnetic sensors 13a and 13b. This suppresses, for example, changes in the magnetic field around the magnetic sensors 13a and 13b when there is a deviation in the axis, variations in the magnetization pitch or magnetic flux density in the magnet 12, and variations in the assembly position of the magnet 12 and the magnetic sensors 13a and 13b. can do. Therefore, the detection accuracy of the rotation angle in the rotation angle detection device 10 can be improved.

(Second Embodiment)
Next, a second embodiment of the rotation angle detection device will be described with reference to FIGS. Hereinafter, the difference from the above embodiment will be mainly described.

  As shown in FIG. 4, unlike the magnetic yokes 20a and 20b of the first embodiment, the magnetic yokes 30a and 30b in the present embodiment are circles that cover a part of the periphery of the magnet 12 rather than the entire circumference of the magnet 12. It is formed in an arc shape. Except for this point, the configuration of the magnetic yokes 30a and 30b (magnet collectors 24a and 24b, etc.) is the same as that of the magnetic yokes 20a and 20b of the first embodiment.

  As shown in FIG. 5, both magnetic yokes 30 a and 30 b are formed over a certain angle c on the outer periphery of the magnet 12. The fixed angle c of both magnetic yokes 30a and 30b is set so as not to overlap. As shown in FIG. 4, both magnetic yokes 30a and 30b are installed at the same height.

The operation of the rotation angle detection device 10 in this embodiment is the same as that in the first embodiment.
As described above, according to the embodiment described above, the following effects can be achieved.
(2) Both the magnetic yokes 30 a and 30 b are arranged in a circular arc shape at the same height along a part of the outer peripheral surface of the magnet 12. Therefore, it is not necessary to arrange both magnetic yokes 30a and 30b along the axial direction of the steering shaft 5, and the rotation angle detecting device 10 can be configured compactly in the axial direction (vertical direction in FIG. 4). Moreover, the magnet 12 can also be comprised compactly in an axial direction.

(Third embodiment)
Next, a third embodiment of the rotation angle detection device will be described with reference to FIG. Hereinafter, the difference from the above embodiment will be mainly described.

  As shown in FIG. 6, first and second shaft portions 41 and 42 are configured as the steering shaft 5. The first shaft portion 41 is on the steering side. A torsion bar 45 that can be torsionally deformed is provided between the shaft portions 41 and 42.

  It is assumed that the rotation angle detectors 31a and 31b are configured by the magnet 12 and the two magnetic yokes 20a and 20b in the first embodiment. The rotation angle detectors 31a and 31b are provided corresponding to the shafts 41 and 42, respectively.

Each rotation angle detection part 31a, 31b detects the rotation angle of the shaft parts 41 and 42 each corresponding to itself by acting similarly to 1st Embodiment.
The angle calculator 15 a of the rotation angle detector 31 a detects an IN angle (steering angle of the steering) and outputs the IN angle to the torque calculator 35. The angle calculation unit 15 b of the rotation angle detection unit 31 b detects the OUT angle and outputs the OUT angle to the torque calculation unit 35.

The torque calculation unit 35 calculates the torsion angle of the torsion bar 45 and consequently the torque applied to the steering shaft 5 based on the difference between the IN angle and the OUT angle.
As described above, according to the embodiment described above, the following effects can be achieved.

  (3) The rotation angle detectors 31a and 31b are provided corresponding to the shafts 41 and 42, respectively. Then, the torque calculator 35 calculates the torque applied to the steering shaft 5 based on the difference between the IN angle detected through the rotation angle detector 31a and the OUT angle detected through the rotation angle detector 31b.

(Fourth embodiment)
Next, a fourth embodiment of the rotation angle detection device will be described with reference to FIGS. Hereinafter, the difference from the above embodiment will be mainly described.

  As shown in FIG. 7, in this embodiment, the number of poles of the magnet 12a corresponding to the rotation angle detection unit 31a is set to be different from the number of poles of the magnet 12b corresponding to the rotation angle detection unit 31b. . The number of poles of the magnet 12a is larger than the number of poles of the magnet 12b. The magnetism collecting portions 24a and 24b are formed in a number corresponding to the number of poles of the magnets 12a and 12b.

  In this configuration, as shown in FIG. 8, the period T1 of the angle specified from the detection results of the magnetic sensors 13a and 13b of the rotation angle detection unit 31a when the steering shaft 5 rotates is the magnetism of the rotation angle detection unit 31b. It becomes smaller than the period T2 of the angle specified from the detection results of the sensors 13a and 13b. For this reason, the angle calculation unit 15 can specify the steering angle in the range of 0 ° to 360 ° by comparing the angles specified by the rotation angle detection units 31a and 31b.

As described above, according to the embodiment described above, the following effects can be achieved.
(4) Both the magnets 12a and 12b are configured with different numbers of poles, and the magnetic collecting portions 24a and 24b are also configured with a number corresponding to the number of poles of the magnets 12a and 12b. In this configuration, the angular period T1 detected by one rotation angle detection unit 31a can be different from the angular period T2 detected by the other rotation angle detection unit 31b. For this reason, the steering angle of the steering can be specified in a wider angle range.

(Fifth embodiment)
Next, a fifth embodiment of the rotation angle detection device will be described with reference to FIG. Hereinafter, the difference from the above embodiment will be mainly described.

  As shown in FIG. 9, N poles and S poles are alternately magnetized on the magnet 12 along the circumferential direction (left and right direction in the drawing) of the steering shaft 5. The magnet 12 is magnetized with two different magnetic poles along the axial direction of the steering shaft 5 (vertical direction in the figure). Further, the magnetic collecting portions 24 a and 24 b of the magnetic yokes 30 a and 30 b are provided at positions corresponding to the magnetic poles of the magnet 12.

  In this configuration, as indicated by the arrows in FIG. 9, the magnetic flux is formed between the north and south poles corresponding to the vertical direction so as to be closed by the magnetic yokes 30a and 30b via the magnetic sensor 13a. Thus, the magnetic yokes 30a and 30b can efficiently apply a magnetic force to the magnetic sensor 13a with respect to the circumferential length of the magnet 12. Accordingly, the circumferential lengths of the magnet 12 and the magnetic yokes 30a and 30b can be reduced.

Even when this embodiment is applied to the second embodiment (FIGS. 4 and 5), the magnetic force applied to the magnetic sensors 13a and 13b equivalent to that of the first embodiment can be ensured.
As described above, according to the embodiment described above, the following effects can be achieved.

  (5) N poles and S poles are alternately arranged in the magnet 12 along the axial direction (vertical direction in the drawing) and the circumferential direction (horizontal direction in the drawing) of the steering shaft 5. Further, the magnetic collecting portions 24 a and 24 b of the magnetic yokes 30 a and 30 b are located corresponding to the magnetic poles of the magnet 12. Thereby, magnetic force can be efficiently applied to the magnetic sensors 13a and 13b with respect to the circumferential lengths of the magnet 12 and the magnetic yokes 30a and 30b.

In addition, the said embodiment can be implemented with the following forms which changed this suitably.
In the above embodiments, the Hall ICs are exemplified as the magnetic sensors 13a and 13b. However, other magnetic sensors such as a magnetoresistive effect element and a coil may be used.

  -The magnetizing method of the magnet 12 is not limited to the above embodiments, and the magnet 12 may be magnetized skewed (obliquely), for example, as shown in FIG. In this configuration, the same action as that of the first embodiment can be obtained while making the length of the magnet 12 in the vertical direction compact.

  In each of the above-described embodiments, the rotation angle detection device 10 can detect the steering angle of the steering, but may detect the rotation angle of other rotation shafts.

  DESCRIPTION OF SYMBOLS 5 ... Steering shaft, 10 ... Rotation angle detection apparatus, 12, 12a, 12b ... Magnet, 13a ... 1st magnetic sensor, 13b ... 2nd magnetic sensor, 15, 15a, 15b ... Angle calculating part, 20a ... 1st 20b ... second magnetic yoke, 30a, 30b ... magnetic yoke, 23a ... first magnetic flux conducting material, 23b ... second magnetic flux conducting material, 24a ... first group of magnetic collecting parts, 24b ... first Two groups of magnetism collecting portions, 31a, 31b ... rotation angle detecting portion, 35 ... torque calculating portion, 41 ... first shaft portion, 42 ... second shaft portion, 45 ... torsion bar.

Claims (5)

A magnet that is attached to the shaft to be measured and in which the north and south poles are alternately magnetized at the same magnetization pitch interval along the circumferential direction;
A magnetic yoke having a magnetic flux collecting portion for collecting magnetic flux in the radial direction of the shaft, which is arranged at regular distance intervals along the outer peripheral surface of the magnet;
A magnetic sensor for detecting a change in magnetic field accompanying rotation of the shaft and the magnet;
In a rotation angle detection device comprising: a rotation angle calculation unit that calculates the rotation angle of the shaft based on the detection result of the magnetic sensor;
The magnetic yoke is
A first group of magnetic flux collectors composed of a plurality of magnetic flux collectors arranged to face each N pole of the magnet;
When the first group of magnetic flux collectors faces each N pole, a second group of magnetic flux collectors composed of a plurality of magnetic flux collectors arranged to face each S pole of the magnet;
A magnetic flux guide material coupled to each of the magnetism collecting portions of each group and guiding the magnetic flux collected by each magnetism collecting portion to the magnetic sensor;
The magnet, the magnetic yoke, and the magnetic sensor constitute a rotation angle detection unit,
And a torsion bar
A first shaft and a second shaft provided as rotating shafts at both ends of the torsion bar ;
Two rotation angle detectors are provided corresponding to the first and second shafts,
The rotation angle detection device further includes a torque calculation unit that calculates a torque applied to the rotation shaft based on a difference between rotation angles detected through the both rotation angle detection units. In the rotation angle of the detection device according to claim 1,
The magnet rotation angle detection apparatus characterized by two of said magnetic yoke is provided.   In the rotation angle detection device according to claim 2,
  The magnetic yoke is arranged in an arc shape and at the same height along a part of the outer peripheral surface of the magnet.
  A rotation angle detection device characterized by that. In the rotation angle detection device according to any one of claims 1 to 3 ,
The magnets in the both rotation angle detectors are configured with different numbers of poles,
The rotation angle calculation unit calculates a rotation angle of the rotation shaft based on an angle detected through the both rotation angle detection units. In the rotation angle detection device according to any one of claims 1 to 4 ,
N poles and S poles are alternately arranged along the circumferential direction of the magnet,
Two rotation poles, an N pole and an S pole, are arranged along the axial direction of the magnet.