JPH05126511A - Position detection device - Google Patents
Position detection deviceInfo
- Publication number
- JPH05126511A JPH05126511A JP28896591A JP28896591A JPH05126511A JP H05126511 A JPH05126511 A JP H05126511A JP 28896591 A JP28896591 A JP 28896591A JP 28896591 A JP28896591 A JP 28896591A JP H05126511 A JPH05126511 A JP H05126511A
- Authority
- JP
- Japan
- Prior art keywords
- cam
- cam body
- detection
- output error
- contour
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、位置検出装置に関し、
より詳しくはモータ原動軸等の回転体の回転位置を検出
する位置検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device,
More specifically, the present invention relates to a position detection device that detects the rotational position of a rotating body such as a motor driving shaft.
【０００２】[0002]
【従来の技術と発明が解決しようとする課題】この種の
従来の位置検出装置は、図１０に示すように、モータの
原動軸５０に回転磁石板５１を取付けるとともに、この
回転磁石板５１に検出磁石板５２を対向配置し、さらに
前記回転磁石板５１と検出磁石板５２との周囲に環状の
検出コイル５３を配置した構成を有する。2. Description of the Related Art In a conventional position detecting device of this type, as shown in FIG. 10, a rotating magnet plate 51 is attached to a driving shaft 50 of a motor, and the rotating magnet plate 51 is attached to the rotating magnet plate 51. The detection magnet plates 52 are arranged so as to face each other, and an annular detection coil 53 is arranged around the rotary magnet plate 51 and the detection magnet plate 52.
【０００３】この位置検出装置によると、検出コイル５
３により、前記回転磁石板５１の回転に伴う回転磁石板
５１と検出磁石板５２との間の磁束の変化を検出するこ
とにより、回転磁石板５１の回転角を電気信号として検
出することができる。According to this position detecting device, the detecting coil 5
By detecting the change in the magnetic flux between the rotating magnet plate 51 and the detecting magnet plate 52 due to the rotation of the rotating magnet plate 51, the rotation angle of the rotating magnet plate 51 can be detected as an electric signal. ..
【０００４】しかしながら、上述した位置検出装置の場
合、検出コイル５３の回転角の変化に伴う出力信号は、
上述したように磁束密度の変化に基くものであるので、
図１１に示すような線型にはならず、回転角が比較的小
さい範囲では理想とすべき出力信号よりも小さく、回転
角が比較的大きい範囲では理想とすべき出力信号よりも
大きくなってしまい、この結果として、回転角を正確に
検出することができないという問題があった。However, in the case of the position detecting device described above, the output signal according to the change in the rotation angle of the detecting coil 53 is
Since it is based on the change in magnetic flux density as described above,
The output signal is not linear as shown in FIG. 11, is smaller than the ideal output signal in the range where the rotation angle is relatively small, and is larger than the ideal output signal in the range where the rotation angle is relatively large. As a result, there is a problem that the rotation angle cannot be accurately detected.
【０００５】このため、従来においても検出コイル５３
の出力信号の補正を行う補正手段を付加することが行わ
れている。この補正手段は、前記検出コイル５３の出力
信号のレベルを２倍にして補正出力信号を送出するもの
であるが、このような補正手段を用いても回転角の変化
に対する出力信号の誤差が拡大されるだけであり、確実
な補正を行うことはできないという問題があった。For this reason, the detection coil 53 is conventionally used.
It has been practiced to add a correction means for correcting the output signal of. This correction means doubles the level of the output signal of the detection coil 53 and sends the corrected output signal. Even if such correction means is used, the error of the output signal with respect to the change of the rotation angle is enlarged. However, there is a problem that it is not possible to make a reliable correction.
【０００６】そこで、本発明は、回転体の回転変位に対
する出力信号の誤差を無くし、あるいは極めて僅少にし
て正確に位置検出を行うことが可能な位置検出装置を提
供することを目的とする。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a position detecting device capable of eliminating an error of an output signal with respect to a rotational displacement of a rotating body or making the position extremely small and accurately detecting a position.
【０００７】[0007]
【課題を解決するための手段】本発明は、回転体の位置
変化を磁束変化に変換して検出する検出手段を備えた位
置検出装置において、前記回転体に連結されるととも
に、前記検出手段における磁束変化に基く出力誤差を補
正する輪郭をもったカム体と、このカム体の輪郭に当接
するように配置された、前記カム体の回転変位を前記検
出手段に伝達するカムフォロワとを具備するものであ
る。According to the present invention, there is provided a position detecting device having a detecting means for detecting a position change of a rotating body by converting it into a magnetic flux change. A cam body having a contour for correcting an output error due to a change in magnetic flux; and a cam follower arranged to abut the contour of the cam body for transmitting a rotational displacement of the cam body to the detecting means. Is.
【０００８】[0008]
【作用】以下に上述した構成の位置検出装置の作用を説
明する。この装置のカム体は、回転体に連結され、その
位置変化に応じて回転する。このとき、カムフォロワ
は、カム体に当接してこのカム体の回転変位を検出手段
に伝達するが、カム体の輪郭は検出手段における磁束変
化に基く出力誤差を補正する形状であるため、検出手段
の出力誤差が前記カム体及びカムフォロワの動作で補正
され、検出手段の出力は回転体の位置変化に正確に対応
したものとなる。The operation of the position detecting device having the above-described structure will be described below. The cam body of this device is connected to a rotating body and rotates in response to a change in its position. At this time, the cam follower contacts the cam body and transmits the rotational displacement of the cam body to the detecting means, but since the contour of the cam body has a shape to correct the output error due to the magnetic flux change in the detecting means, the detecting means Output error is corrected by the operation of the cam body and the cam follower, and the output of the detecting means accurately corresponds to the position change of the rotating body.
【０００９】[0009]
【実施例】以下に、本発明の実施例を説明する。図１お
よび図２に示す位置検出装置１は、一対の板状に形成さ
れた支持板２ａ、２ｂと、この両支持板２ａ、２ｂを平
行配置に支持するボルトおよびナットからなる合計４個
の支持部材３と、両支持板２ａ、２ｂの中央位置を貫通
する状態で、かつ、軸受４ａ、４ｂにより回転可能に配
置した軸体５と、この軸体５の一方の突出端に取付けた
ところの、後述する輪郭を具備する板状のカム体６と、
前記支持板２ａに対し支持ピン７とともに回転可能に配
置されるとともに前記カム体６の輪郭に当接させた当接
ピン８ａを具備するカムフォロワ８と、このカムフォロ
ワ８を図１において矢印β方向に付勢するばね９と、前
記支持板２ａの内側において前記支持ピン７に連結した
検出手段１０とを具備している。前記軸体５の他方の突
出端には、検出対象である回転体、例えばロボットアー
ムやモータの回転軸等が連結されるようになっている。EXAMPLES Examples of the present invention will be described below. The position detection device 1 shown in FIGS. 1 and 2 includes a pair of plate-shaped support plates 2a and 2b and a total of four bolts and nuts that support the support plates 2a and 2b in a parallel arrangement. The support member 3, the shaft body 5 rotatably arranged by the bearings 4a and 4b while penetrating through the central positions of the support plates 2a and 2b, and the shaft body 5 attached to one protruding end of the shaft body 5. A plate-shaped cam body 6 having a contour described later,
A cam follower 8 having a contact pin 8a that is rotatably arranged together with a support pin 7 with respect to the support plate 2a and is in contact with the contour of the cam body 6, and the cam follower 8 in the direction of arrow β in FIG. It comprises a biasing spring 9 and a detection means 10 connected to the support pin 7 inside the support plate 2a. The other protruding end of the shaft body 5 is connected to a rotating body to be detected, such as a robot arm or a rotating shaft of a motor.
【００１０】なお、図２中、１１は前記支持板２ａに取
付けた制御回路基板である。図３は、位置検出装置１の
全体構成を示すブロック図であり、前記軸体５の回転を
前記カム体６、カムフォロワ８を含むカム機構１２を介
して検出手段１０に伝達するようになっている。前記検
出手段１０は、図４に示すように従来例と同様な回転磁
石板５１、検出磁石板５２および検出コイル５３を具備
し、カム機構１２の支持ピン７を回転磁石板５１に連結
している。In FIG. 2, 11 is a control circuit board mounted on the support plate 2a. FIG. 3 is a block diagram showing the overall configuration of the position detection device 1, and the rotation of the shaft body 5 is transmitted to the detection means 10 via the cam mechanism 12 including the cam body 6 and the cam follower 8. There is. As shown in FIG. 4, the detection means 10 includes a rotary magnet plate 51, a detection magnet plate 52, and a detection coil 53, which are similar to those of the conventional example, and the support pins 7 of the cam mechanism 12 are connected to the rotary magnet plate 51. There is.
【００１１】次に、図１，図５を参照し、前記カム体６
の輪郭について説明する。前記軸体５の中心を通る水平
線と、前記支持ピン７の中心を通る垂直線との交点を原
点とするＸ−Ｙ座標系を考え、前記軸体５の座標（Ｂ，
ｏ）、前記当接ピン８ａの初期位置の座標を（ｘ0 ，ｙ
0 ）、前記支持ピン７と当接ピン８ａとの距離をｒ、当
接ピン８ａと軸体５との距離をＬ（その初期位置での距
離をＬ0 とする。）とする。Next, referring to FIGS. 1 and 5, the cam body 6 will be described.
Will be described. Considering an XY coordinate system whose origin is an intersection point of a horizontal line passing through the center of the shaft 5 and a vertical line passing through the center of the support pin 7, the coordinates (B,
o), the coordinates of the initial position of the contact pin 8a are (x 0 , y
0 ), the distance between the support pin 7 and the contact pin 8a is r, and the distance between the contact pin 8a and the shaft 5 is L (the distance at its initial position is L 0 ).
【００１２】また、カム体６の回転角θ1 、カムフォロ
ワ８の回転角θ2 を各々矢印方向にとるものとする。こ
のとき、当接ピン８ａがその初期位置から回転角θ0 だ
け回転して支持ピン７を通る水平線上に来るとすると、
その回転角はθ0 ＝tan-1 （ｙ0/ｘ0 ）で表される。Further, it is assumed to take the rotation angle theta 1 of the cam member 6, the rotation angle theta 2 of the cam followers 8 respectively in the direction of the arrow. At this time, if the contact pin 8a rotates from its initial position by a rotation angle θ 0 and comes to a horizontal line passing through the support pin 7,
The rotation angle is represented by θ 0 = tan −1 (y 0 / x 0 ).
【００１３】θ1 およびθ2 は０〜１８０度の範囲にあ
る。θ1 およびθ2 の関係は任意に設定することができ
る。たとえば、θ1 とθ2 とが１対１であるときにはθ
1 ＝θ2 であり、θ1 とθ2 とが２対１であるときには
θ1 ＝θ2 ／２であり、θ1とθ2 とが１対２であると
きにはθ1 ＝２θ2 であり、また、カム体６が１２０度
回転したときにカムフォロワ８を８５度回転させる場合
にはθ1 ＝θ2 ×（１２０／８５）である。Θ 1 and θ 2 are in the range of 0 to 180 degrees. The relationship between θ 1 and θ 2 can be set arbitrarily. For example, when θ 1 and θ 2 are one-to-one, θ
1 = a theta 2, when theta 1 and the theta 2 is 2-to-1 is theta 1 = theta 2/2, when theta 1 and the theta 2 is 1: 2 be a theta 1 = 2 [Theta] 2 Further, when the cam follower 8 is rotated by 85 degrees when the cam body 6 is rotated by 120 degrees, θ 1 = θ 2 × (120/85).
【００１４】当接ピンの回転角θ2 が０〜θ0 であると
きには、 θx ＝θ0 −θ2 （ただし、θ2 とθ1 との比率関係に
より上述のようにして決定されるθ1 の値で代替され
る。） ｘ1 ＝ｒ×Ｃｏｓθx ｙ1 ＝Ｌ0 −ｒ×Ｓｉｎθx Ｌ＝［（Ｂ−ｘ1 ）2 ＋ｙ1 2］1/2 ＋α 当接ピンの回転角θ2 がθ0 以上であるときには、 θx ＝−θ0 ｘ1 ＝ｒ×Ｃｏｓθx ｙ1 ＝Ｌ0 ＋ｒ×Ｓｉｎθx Ｌ＝［（Ｂ−ｘ1 ）2 ＋ｙ1 2］1/2 ＋α の関係式が成立する。When the rotation angle θ 2 of the contact pin is 0 to θ 0 , θ x = θ 0 −θ 2 (where θ is determined as described above by the ratio relationship between θ 2 and θ 1). is replaced by a value of one.) x 1 = r × Cosθ x y 1 = L 0 -r × Sinθ x L = [(B-x 1) 2 + y 1 2] 1/2 + α the angle of rotation of the contact pin When θ 2 is θ 0 or more, θ x = −θ 0 x 1 = r × Cos θ x y 1 = L 0 + r × Sin θ x L = [(B−x 1 ) 2 + y 1 2 ] 1/2 + α The relational expression of is established.
【００１５】上記の関係式を用いてカム曲線を描くこと
ができる。A cam curve can be drawn using the above relational expression.
【００１６】ここに、αは後述する係数である。Here, α is a coefficient described later.
【００１７】ここで、補正係数αについて図７，図８を
も参照して説明する。前記検出手段１０の出力信号は何
等の補正を行わないときには、従来例と同様例えば図６
に示すようになる。そこで、検出手段１０の出力信号の
誤差にばらつきを図７に示すように４つのパターンに分
けられるものと想定する。なお、図７は横軸に回転角
（度）を、縦軸に出力誤差（％）をとって示すものであ
る。The correction coefficient α will be described with reference to FIGS. 7 and 8. When no correction is performed on the output signal of the detection means 10, as in the conventional example, for example, as shown in FIG.
As shown in. Therefore, it is assumed that the error in the output signal of the detection means 10 can be divided into four patterns as shown in FIG. In FIG. 7, the horizontal axis represents the rotation angle (degree) and the vertical axis represents the output error (%).
【００１８】次に、前記４つのパターンに対応して各々
図８に示すような各出力誤差を逆補正するような補正係
数αを付加した前記式で示されるＬの値をもった輪郭を
形成した４個のカム体６を作成し、前記各パターン毎に
各カム体６を前記軸体５に取付けて実際に検出手段１０
の出力信号を測定する。このようにして測定した検出手
段１０の出力誤差５例を図９に示す。Next, a contour having the value of L shown in the above equation is formed corresponding to the above four patterns, and a correction coefficient α for inversely correcting each output error as shown in FIG. 8 is added. The four cam bodies 6 are formed, each cam body 6 is attached to the shaft body 5 for each pattern, and the detecting means 10 is actually used.
Measure the output signal of. FIG. 9 shows five examples of output errors of the detecting means 10 measured in this way.
【００１９】図９の左欄は試料１乃至５のカム体装着前
の出力誤差を各々示し、右欄は試料１乃至５に対し、既
述したような４個のカム体６のうち順に第１のカム体
６、第２のカム体、第３のカム体、第２のカム体、第２
のカム体を装着した場合の出力誤差を示すものである。
図９から明らかなように、第１のカム体を付けた第１の
試料では出力誤差が最大で０．８％、第２のカム体を付
けた試料２では出力誤差が最大１．５％、第３のカム体
を付けた試料３では出力誤差が最大で１％、第２のカム
体を付けた試料４では出力誤差が最大で２．８％、第２
のカム体を付けた試料５では出力誤差が最大で１．９％
となることが判明する。The left column of FIG. 9 shows the output error of each of Samples 1 to 5 before mounting the cam body, and the right column is to the Samples 1 to 5 in order among the four cam bodies 6 as described above. 1st cam body 6, 2nd cam body, 3rd cam body, 2nd cam body, 2nd cam body
3 shows the output error when the cam body of FIG.
As is clear from FIG. 9, the maximum output error is 0.8% in the first sample with the first cam body, and the maximum output error is 1.5% in the sample 2 with the second cam body. The maximum output error is 1% for the sample 3 with the third cam body, and the maximum output error is 2.8% for the sample 4 with the second cam body.
The maximum output error is 1.9% for sample 5 with the cam body attached.
It turns out that
【００２０】このようにして、本実施例装置１によれ
ば、上述した補正係数αを加味した式Ｌ＝｛（Ｂ−ｘ
1 ）2 ＋ｙ1 2｝1/2 ＋αによりカム体６の輪郭を作成
し、検出手段１０の出力誤差を補正するようにしたもの
であるから、出力誤差を最大でも３％以下程度に抑える
ことが可能で、極めて実用価値の高い位置検出装置を提
供することができる。In this way, according to the apparatus 1 of the present embodiment, the equation L = {(Bx
1 ) The contour of the cam body 6 is created by 2 + y 1 2 } 1/2 + α to correct the output error of the detecting means 10. Therefore, the output error should be suppressed to about 3% or less at the maximum. Therefore, it is possible to provide a position detection device having extremely high practical value.
【００２１】本発明は上述した実施例に限定されるもの
ではなく、その要旨の範囲内で種々の変形が可能であ
る。The present invention is not limited to the above-described embodiments, but various modifications can be made within the scope of the invention.
【００２２】例えば、特注品用として、検出手段１０の
出力誤差をまず測定し、次に、この出力誤差に対し完全
に逆補正となるような補正係数αを定めてこの補正係数
αを基に前記カム体６の輪郭を決定して専用のカム体６
を作成し、このカム体６を用いて検出手段１０の補正を
行うようにすれば、出力誤差を０．５％以下まで減少し
た位置検出装置１を製造することが可能である。For example, for a custom-ordered product, the output error of the detection means 10 is first measured, and then a correction coefficient α that completely reverses the output error is determined and based on this correction coefficient α. Dedicated cam body 6 by determining the contour of the cam body 6
Is produced and the detection means 10 is corrected by using the cam body 6, it is possible to manufacture the position detecting device 1 in which the output error is reduced to 0.5% or less.
【００２３】[0023]
【発明の効果】以上詳述した本発明によれば、検出手段
の出力誤差をカム体により大幅に補正でき、総合的な出
力誤差を無くし又は僅少とすることが可能な位置検出装
置を提供することができる。According to the present invention described in detail above, there is provided a position detecting device in which the output error of the detecting means can be largely corrected by the cam body and the total output error can be eliminated or minimized. be able to.
【図１】図１は、本発明の実施例装置の正面図である。FIG. 1 is a front view of an apparatus according to an embodiment of the present invention.
【図２】図２は、本発明の実施例装置の平面図である。FIG. 2 is a plan view of an apparatus according to an embodiment of the present invention.
【図３】図３は、本発明の実施例装置のブロック図であ
る。FIG. 3 is a block diagram of an apparatus according to an embodiment of the present invention.
【図４】図４は、本発明の実施例装置における検出手段
の側面図である。FIG. 4 is a side view of detection means in the apparatus according to the embodiment of the present invention.
【図５】図５は、本発明の実施例装置におけるカム体の
作成原理図である。FIG. 5 is a principle drawing of a cam body in the apparatus of the embodiment of the present invention.
【図６】図６は、カム体無しの場合の検出手段の出力信
号のグラフである。FIG. 6 is a graph of the output signal of the detection means when there is no cam body.
【図７】図７は、カム体無しの場合の検出手段の出力誤
差の４つのパターンを示すグラフである。FIG. 7 is a graph showing four patterns of output errors of the detection means when there is no cam body.
【図８】図８は、４つの補正パターンを示すグラフであ
る。FIG. 8 is a graph showing four correction patterns.
【図９】図９は、カム体装着前後の出力誤差５例を示す
グラフである。FIG. 9 is a graph showing five output errors before and after mounting the cam body.
【図１０】図１０は、従来装置の側面図である。FIG. 10 is a side view of a conventional device.
【図１１】図１１は、従来装置の出力信号のグラフであ
る。FIG. 11 is a graph of an output signal of a conventional device.
１ 位置検出装置 ５ 軸体 ６ カム体 ８ カムフォロワ １０ 検出手段 1 position detection device 5 shaft body 6 cam body 8 cam follower 10 detection means
Claims (1)
検出する検出手段を備えた位置検出装置において、前記
回転体に連結されるとともに、前記検出手段における磁
束変化に基く出力誤差を補正する輪郭をもったカム体
と、このカム体の輪郭に当接するように配置された、前
記カム体の回転変位を前記検出手段に伝達するカムフォ
ロワとを具備することを特徴とする位置検出装置。1. A position detection device comprising a detection means for converting a position change of a rotating body into a magnetic flux change for detection, and correcting an output error connected to the rotating body and based on the magnetic flux change in the detecting means. A position detecting device comprising: a cam body having a contour and a cam follower arranged to abut the contour of the cam body and transmitting the rotational displacement of the cam body to the detecting means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28896591A JP2936437B2 (en) | 1991-11-05 | 1991-11-05 | Position detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28896591A JP2936437B2 (en) | 1991-11-05 | 1991-11-05 | Position detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05126511A true JPH05126511A (en) | 1993-05-21 |
| JP2936437B2 JP2936437B2 (en) | 1999-08-23 |
Family
ID=17737094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP28896591A Expired - Lifetime JP2936437B2 (en) | 1991-11-05 | 1991-11-05 | Position detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2936437B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012008232A (en) * | 2010-06-23 | 2012-01-12 | Konica Minolta Business Technologies Inc | Rotor detecting mechanism, fixing device and image forming apparatus |
-
1991
- 1991-11-05 JP JP28896591A patent/JP2936437B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012008232A (en) * | 2010-06-23 | 2012-01-12 | Konica Minolta Business Technologies Inc | Rotor detecting mechanism, fixing device and image forming apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2936437B2 (en) | 1999-08-23 |
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