JPH0743134A - Rotation angle detector - Google Patents
Rotation angle detectorInfo
- Publication number
- JPH0743134A JPH0743134A JP18987093A JP18987093A JPH0743134A JP H0743134 A JPH0743134 A JP H0743134A JP 18987093 A JP18987093 A JP 18987093A JP 18987093 A JP18987093 A JP 18987093A JP H0743134 A JPH0743134 A JP H0743134A
- Authority
- JP
- Japan
- Prior art keywords
- rotation angle
- distance
- rotor
- contour surface
- rotation
- 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.)
- Pending
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、工作機械，ロボット，
搬送装置などを制御するために位置検知装置として使用
される回転角検出装置に関する。The present invention relates to a machine tool, a robot,
The present invention relates to a rotation angle detection device used as a position detection device for controlling a conveyance device and the like.
【０００２】[0002]
【従来の技術】回転角を検出するものとして、従来より
ロータリーエンコーダが知られているが、例えば、光学
式のロータリーエンコーダにあっては、円周方向に所定
のピッチでスリットを形成した回転円盤を用い、回転量
に応じて発生する光パルスを計数して回転角を検出する
インクリメンタルタイプと、回転角に応じたバイナリー
コードを複数のスリット列で符号化した回転円盤を用
い、そのバイナリーコードを読み取って回転角を検出す
るアブソリュートタイプのものがある。2. Description of the Related Art A rotary encoder is conventionally known as a device for detecting a rotation angle. For example, in an optical rotary encoder, a rotary disk having slits formed in a circumferential direction at a predetermined pitch. Using an incremental type that detects the rotation angle by counting the optical pulses generated according to the rotation amount and a rotating disk that encodes a binary code according to the rotation angle with multiple slit rows, the binary code is There is an absolute type that reads and detects the rotation angle.
【０００３】この場合に、インクリメンタルタイプのも
のはスリットパターンが単純で構造が簡単になり価格的
に安価であり、瞬間回転速度を検出するには優れている
という利点があるものの、途中でミスカウントされた場
合にそれが累積されて角度を正確に検出できない場合が
ある。このため、角度を正確に検出する必要があるとき
は、途中のミスカウントが累積されることがなく、ま
た、高速回転に対して光電素子，電気回路の応答性を問
題にする必要のないアブソリュートタイプのロータリー
エンコーダが広く使用されている。In this case, the incremental type has an advantage that the slit pattern is simple, the structure is simple and the price is low, and it is excellent in detecting the instantaneous rotation speed, but a miscount occurs on the way. If it is done, it may be accumulated and the angle cannot be detected accurately. For this reason, when it is necessary to accurately detect the angle, the miscount in the middle is not accumulated, and the responsiveness of the photoelectric element and the electric circuit to the high speed rotation does not need to be a problem. A type of rotary encoder is widely used.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、アブソ
リュートタイプのものは、例えば１回転を３６０度とい
う比較的粗い精度で検出する場合でも９ビット必要とな
るので、発光受光素子もそのビット数に応じて９組設け
なければならない。したがって、精度を向上させればさ
せるほど発光受光素子の数も多くなり、構造が複雑にな
ってコストが嵩むだけでなく、その分、消費電力も増え
るので停電時に用いるバックアップ用バッテリーとして
大型電池を用いなければならないという問題があった。However, the absolute type requires 9 bits even when detecting one rotation with a relatively coarse accuracy of 360 degrees, and therefore the light emitting and receiving elements also depend on the number of bits. Nine sets must be provided. Therefore, as the accuracy is improved, the number of light emitting and receiving elements is increased, the structure is complicated and the cost is increased, and the power consumption is increased accordingly, so that a large battery is used as a backup battery to be used at the time of power failure. There was a problem that it had to be used.
【０００５】このため、回転軸に円盤を偏心させて取り
付け，その周面に対峙して配設さたナイフエッジとの隙
間を透過する回折させ、回転角度に応じて変化する光強
度に基づいてその回転角度を検出するものが提案されて
いる（特開昭６２−２４０８１４号公報参照）が、この
場合は、回折光の僅かな光強度を検出するために、各部
品を精度よく組み立てなければならず、また、測定の際
に受光素子面を常に綺麗な状態に維持しなければ精度よ
く検出できないので、塵埃などの多い測定条件の悪い場
所では、結局、上述のアブソリュートタイプのものを使
用せざるを得なかった。そこで、本発明は、塵埃などの
多い測定条件の悪い場所でも多数のセンサを用いること
なく、簡単な構成で回転角を正確に検出できるようにす
ることを技術的課題としている。For this reason, a disk is eccentrically attached to the rotating shaft, diffracts through a gap between the knife edge and the peripheral surface of the disk, and is diffracted based on the light intensity that changes depending on the rotating angle. A device that detects the rotation angle has been proposed (see Japanese Patent Laid-Open No. 62-240814), but in this case, in order to detect the slight light intensity of the diffracted light, each component must be assembled accurately. In addition, since it is not possible to detect accurately unless the light-receiving element surface is always kept clean during measurement, use the absolute type described above after all in places with a lot of dust and other bad measurement conditions. I had no choice. Therefore, it is a technical object of the present invention to make it possible to accurately detect a rotation angle with a simple configuration without using a large number of sensors even in a place where there are a lot of dust and other bad measurement conditions.
【０００６】[0006]
【課題を解決するための手段】この課題を解決するため
に、本発明は、回転軸にカム状の回転子が取り付けら
れ、当該回転子のカム輪郭面までの距離を非接触で測定
する測距センサが当該カム輪郭面に対峙して配設される
と共に、前記カム輪郭面は測距センサとの距離が回転軸
の回転角に応じて変化するように形成され、前記測距セ
ンサの出力信号に基づき、カム輪郭面までの距離と回転
軸の回転角との関係を予め記憶した距離−角度変換テー
ブルを参照して回転角を算出する演算装置を備えたこと
を特徴とする。In order to solve this problem, according to the present invention, a cam-shaped rotor is attached to a rotary shaft, and the distance to the cam contour surface of the rotor is measured in a non-contact manner. A distance sensor is arranged so as to face the cam contour surface, and the cam contour surface is formed so that the distance from the distance measurement sensor changes according to the rotation angle of the rotating shaft, and the output of the distance measurement sensor. It is characterized in that it is provided with an arithmetic unit for calculating a rotation angle by referring to a distance-angle conversion table in which the relationship between the distance to the cam contour surface and the rotation angle of the rotary shaft is stored in advance based on the signal.
【０００７】[0007]
【作用】本発明によれば、回転子のカム輪郭面に対峙し
て測距センサが配設されており、カム輪郭面は測距セン
サとの距離が回転軸の回転角に応じて変化するように形
成されているので、回転軸を回転させると、測距センサ
とカム輪郭面との距離が変化する。したがって、測距セ
ンサでカム輪郭面までの距離を測定し、その測定結果に
基づき、距離−角度変換テーブルを参照するとにより回
転角が算出される。この場合、センサはカム輪郭面まで
の距離を測定する測距センサだけで足り、回転角を検出
するために多数のセンサを設ける必要がなく、また、光
の強度変化に基づいて検出するものではないので、埃な
どの多い測定条件の悪い場所でも精度よく回転各を検出
することができる。なお、同時に回転速度を検出する場
合には、回転子をインクリメンタルタイプのロータリー
エンコーダと同軸的に取り付け、当該ロータリーエンコ
ーダで発生されたパルス信号に基づいて検出すればよ
い。According to the present invention, the distance measuring sensor is arranged so as to face the cam contour surface of the rotor, and the distance between the cam contour surface and the distance measuring sensor changes according to the rotation angle of the rotary shaft. Therefore, when the rotary shaft is rotated, the distance between the distance measuring sensor and the cam contour surface changes. Therefore, the rotation angle is calculated by measuring the distance to the cam contour surface with the distance measuring sensor and referring to the distance-angle conversion table based on the measurement result. In this case, the sensor need only be a distance measuring sensor that measures the distance to the cam contour surface, and it is not necessary to provide a large number of sensors to detect the rotation angle, and it is not possible to detect based on the change in light intensity. Since it does not exist, it is possible to accurately detect each rotation even in a place where measurement conditions such as dust and the like are bad. When detecting the rotational speed at the same time, the rotor may be mounted coaxially with an incremental type rotary encoder and detected based on the pulse signal generated by the rotary encoder.
【０００８】[0008]
【実施例】以下、本発明を図面に示す実施例に基づいて
具体的に説明する。図１は本発明に係る回転角検出装置
の一例を示すフローシート、図２は回転角と距離の関係
を示すグラフ、図３乃至図５は他の実施例を示す斜視図
である。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on the embodiments shown in the drawings. FIG. 1 is a flow sheet showing an example of a rotation angle detection device according to the present invention, FIG. 2 is a graph showing the relationship between rotation angle and distance, and FIGS. 3 to 5 are perspective views showing other examples.
【０００９】図中１は、例えば工作機械のテーブルを移
動させる駆動モータ（図示せず）等の回転軸２に取り付
けられたカム状の回転子であって、インクリメンタルタ
イプロータリーエンコーダの回転円盤Ｄと同軸的に取り
付けられ、その外周面がカム輪郭面３となる平板カム状
に形成されて、カム輪郭面３までの距離を非接触で測定
する測距センサ４が当該カム輪郭面３に対峙して取り付
けられている。In FIG. 1, reference numeral 1 denotes a cam-shaped rotor attached to a rotary shaft 2 such as a drive motor (not shown) for moving a table of a machine tool, and a rotary disk D of an incremental type rotary encoder. A distance measuring sensor 4 which is coaxially attached and whose outer peripheral surface is formed into a flat plate cam shape serving as the cam contour surface 3 and which measures the distance to the cam contour surface 3 in a non-contact manner faces the cam contour surface 3. Installed.
【００１０】回転子１のカム輪郭面３は、測距センサ４
との距離が回転軸２の回転角に応じて変化するように形
成され、例えば回転角０度から３６０度に至るまで回転
子の半径方向長さが徐々に短くなるように形成されて、
回転角０度の位置に段差が形成されている。また、測距
センサ４は例えば半導体レーザを用いた光干渉計からな
り、測距センサ４とカム輪郭面３との距離を非接触で、
且つ、ナノメートル単位で精密に測定することができ
る。The cam contour surface 3 of the rotor 1 has a distance measuring sensor 4
Is formed so as to change in accordance with the rotation angle of the rotation shaft 2, and is formed so that the radial length of the rotor gradually decreases from 0 to 360 degrees, for example.
A step is formed at a position where the rotation angle is 0 degree. The distance measuring sensor 4 is composed of, for example, an optical interferometer using a semiconductor laser, and the distance measuring sensor 4 and the cam contour surface 3 are in non-contact with each other.
In addition, it is possible to accurately measure in nanometer units.
【００１１】回転軸２の回転角ｘと、回転子１のカム輪
郭面３までの距離ｙの関係は、例えば図２に示すよう
に、回転角ｘが０度のときの距離ｙを０としたときに、
回転角３６０度に至るまで距離ｙが１０mmまで直線的に
変化する場合、ｙ＝ｘ／３６で表され、回転角と距離と
は１対１に対応し、距離ｙを測定することにより回転角
ｘをｘ＝３６ｙの式から算出することができる。The relationship between the rotation angle x of the rotary shaft 2 and the distance y to the cam contour surface 3 of the rotor 1 is, for example, as shown in FIG. 2, the distance y when the rotation angle x is 0 degree is 0. When I did
When the distance y changes linearly up to 10 mm up to a rotation angle of 360 degrees, it is represented by y = x / 36, and the rotation angle and the distance have a one-to-one correspondence, and the rotation angle is measured by measuring the distance y. x can be calculated from the formula of x = 36y.
【００１２】５は、測距センサ４の出力信号に基づいて
回転角を算出する演算装置であって、回転角ｘと距離ｙ
の関係（例えばｘ＝３６ｙ）を予め記憶した距離−角度
変換テーブル６に接続されてなり、測距センサ４で測定
された距離に基づいて前記変換テーブル６を参照し回転
角ｘを算出する。なお、距離−角度変換テーブル６は、
回転角と距離の関係を計算式で記憶する場合に限らず、
データとして記憶している場合であってもよい。Reference numeral 5 denotes an arithmetic unit for calculating a rotation angle based on an output signal of the distance measuring sensor 4, which is a rotation angle x and a distance y.
Is connected to a distance-angle conversion table 6 in which the relationship (for example, x = 36y) is stored in advance, and the rotation angle x is calculated based on the distance measured by the distance measuring sensor 4 with reference to the conversion table 6. The distance-angle conversion table 6 is
Not only when the relationship between the rotation angle and the distance is stored as a calculation formula,
It may be stored as data.
【００１３】また、７は、回転円盤Ｄ上に形成された基
準パルス発生用スリットであって、回転軸２が３６０度
以上回転する場合に回転角０度の位置で基準パルスを出
力するように、当該スリット７を挟んで回転円盤Ｄの両
面側に発光素子８及び受光素子９が対向配設され、受光
素子９で検出された基準パルス数を演算装置５で計数す
ることにより回転軸２が何回転したかをカウントする。Reference numeral 7 is a reference pulse generating slit formed on the rotating disk D so that the reference pulse is output at a position of a rotation angle of 0 degree when the rotation shaft 2 rotates by 360 degrees or more. The light-emitting element 8 and the light-receiving element 9 are arranged to face each other on both sides of the rotary disk D with the slit 7 in between, and the rotating shaft 2 is rotated by counting the reference pulse number detected by the light-receiving element 9 by the arithmetic unit 5. Count how many turns.
【００１４】さらに、１０は回転角ｘのときの回転速度
を検出するためのパルススケールであって、回転子１の
円周方向に沿って前記回転円盤Ｄ上に所定のピッチのス
リットが形成されてなり、当該パルススケール１０を挟
んで回転円盤Ｄの両面側に発光素子１１及び受光素子１
２が対向配設され、受光素子１２で検出されたパルス１
周期の時間を計測することにより回転速度が検出され
る。Further, 10 is a pulse scale for detecting the rotation speed at the rotation angle x, and slits having a predetermined pitch are formed on the rotating disk D along the circumferential direction of the rotor 1. The light emitting element 11 and the light receiving element 1 are provided on both sides of the rotating disk D with the pulse scale 10 interposed therebetween.
Pulses 2 detected by the light receiving element 12 are arranged opposite to each other.
The rotation speed is detected by measuring the time of the cycle.
【００１５】以上が本発明の一例構成であって次にその
作用について説明する。まず、回転子１を取り付けた回
転軸２が回転すると、その回転角に応じて測距センサ４
からカム輪郭面３までの距離が変化し、その距離がリア
ルタイムで測定され、測定された距離ｙに基づいて回転
角ｘが算出される。このとき、距離と回転角は１対１の
対応関係にあるので、距離を測定することにより回転角
が一義的に定まることとなり、回転軸２の回転方向など
を考慮する必要は全くない。また、反射光の強度に基づ
いて回転角度を検出するのではなく、測定された距離に
基づいて回転角度を検出するので、塵埃などの多い測定
条件の悪い場所でも測定誤差を生ずることがない。The above is an example of the configuration of the present invention, and its operation will be described below. First, when the rotary shaft 2 to which the rotor 1 is attached rotates, the distance measuring sensor 4 is rotated according to the rotation angle.
To the cam contour surface 3, the distance is measured in real time, and the rotation angle x is calculated based on the measured distance y. At this time, since the distance and the rotation angle have a one-to-one correspondence, the rotation angle is uniquely determined by measuring the distance, and there is no need to consider the rotation direction of the rotating shaft 2 at all. Further, since the rotation angle is detected based on the measured distance, not the rotation angle based on the intensity of the reflected light, a measurement error does not occur even in a place with a lot of dust and other bad measurement conditions.
【００１６】また、回転子１にカム輪郭面３を形成する
だけでよく、複雑なパターンのスリットを設ける必要は
全くないので、極めて簡単な構成で精密な角度検出を行
なうことができ、しかも装置自体を安価に提供すること
ができる。なお、回転子１はパルススケール１０を形成
した回転円盤Ｄと一体に取り付けられているので、必要
があれば、パルススケール１０を透過する光パルスに基
づいて回転速度を検出することができる。Further, since it is only necessary to form the cam contour surface 3 on the rotor 1 and there is no need to provide slits having a complicated pattern at all, it is possible to perform precise angle detection with an extremely simple structure and further, the apparatus. It can be provided at low cost. Since the rotor 1 is attached integrally with the rotating disk D on which the pulse scale 10 is formed, the rotation speed can be detected based on the light pulse transmitted through the pulse scale 10 if necessary.
【００１７】さらに、ＮＣ工作機の送りねじのように 3
60度以上回転するような場合でも、回転子１が一回転す
るたびにスリット７から基準パルスが出力されるので、
パルスを計数することにより送りねじの回転量を知るこ
とができる。具体的に説明すると、例えば、ＮＣ工作機
のテーブルが基準位置にあるとき、回転数０，回転角０
度となるように回転子１をテーブルの送りねじの回転軸
２に取り付ける。Furthermore, like the lead screw of NC machine tools,
Even if the rotor rotates by 60 degrees or more, the reference pulse is output from the slit 7 every time the rotor 1 makes one rotation.
The rotation amount of the feed screw can be known by counting the pulses. More specifically, for example, when the table of the NC machine tool is at the reference position, the rotation speed is 0 and the rotation angle is 0.
The rotor 1 is attached to the rotary shaft 2 of the feed screw of the table so that the rotation angle is in degrees.
【００１８】このとき、送りネジが１回転するとテーブ
ルはそのピッチｐだけ移動するので、テーブルを距離Ｌ
だけ移動させようとする場合、送りネジをＬ／ｐ回転さ
せる必要があり、その位置に達するまでの回転数Ｎと回
転角ｘは、 Ｎ＝ Integer (Ｌ／ｐ） ｘ＝〔（Ｌ−Ｎｐ）／ｐ〕×360 で表せられる。At this time, when the feed screw makes one rotation, the table moves by the pitch p, so that the table is moved by the distance L.
In order to move only that position, it is necessary to rotate the feed screw L / p, and the rotation speed N and the rotation angle x until reaching the position are: N = Integer (L / p) x = [(L-Np ) / P] × 360.
【００１９】したがって、テーブルを距離Ｌだけ移動さ
せる場合には、送りねじが１回転するごとに出力される
基準パルスを計数し、その値がＮ回になった後に、回転
角が〔（Ｌ−Ｎｐ）／ｐ〕×360 度に達したところで、
駆動モータ（図示せず）を停止させればよい。Therefore, when the table is moved by the distance L, the reference pulse output is counted every one rotation of the feed screw, and after the value becomes N times, the rotation angle becomes [(L- Np) / p] × 360 degrees reached,
The drive motor (not shown) may be stopped.
【００２０】図３は他の実施例を示す斜視図であって、
本例では、回転子１が円筒カム状に形成され、カム輪郭
面３となる筒端面に対峙して測距センサ４が配設される
と共に、カム輪郭面３は測距センサ４からの距離が回転
角に対して１対１に対応するように回転角０度から３６
０度に至るまで徐々に低くなるように形成され、回転角
０度のところで段差が形成されている。FIG. 3 is a perspective view showing another embodiment,
In this example, the rotor 1 is formed in the shape of a cylindrical cam, and the distance measuring sensor 4 is disposed so as to face the cylinder end surface which is the cam contour surface 3, and the cam contour surface 3 is a distance from the distance measuring sensor 4. So that there is a one-to-one correspondence with the rotation angle
It is formed so as to gradually decrease until it reaches 0 degree, and a step is formed at a rotation angle of 0 degree.
【００２１】また、回転子１の外周には回転角０度に対
応する位置に反射体２１が形成され、当該反射体２１に
光を照射すると共にその反射光を受光する光センサ２２
が配設されて、回転子１が１回転するたびに基準パルス
を検出するように成され、前述と全く同様に回転角を検
出することができる。Further, a reflector 21 is formed on the outer periphery of the rotor 1 at a position corresponding to a rotation angle of 0 degree, and an optical sensor 22 for irradiating the reflector 21 with light and receiving the reflected light.
Is arranged so that the reference pulse is detected every time the rotor 1 makes one rotation, and the rotation angle can be detected in exactly the same manner as described above.
【００２２】図４に示す実施例では、回転子１の回転角
０度と１８０度のところに段差が形成されて、回転角０
度から１８０度に至るまでと、回転角１８０度から３６
０度に至るまで、夫々半径方向長さが徐々に短くなるよ
うに形成されて成る。ただし、この場合は、回転角と距
離が１対１に対応しないので、基準パルスを発生するス
リット２４及び２５を回転角０度と回転角１８０度に対
応する位置に形成しておけばよい。なお、このタイプは
回転子１が回転軸２を中心として点対称形に形成され、
重心が回転軸２上にあり、高速回転しても回転子１が振
動しないので、高速回転される回転軸２の回転角を検出
するのに適している。In the embodiment shown in FIG. 4, a step is formed at the rotation angle 0 and 180 degrees of the rotor 1 so that the rotation angle 0
From 180 degrees to 180 degrees, the rotation angle from 180 degrees to 36 degrees
It is formed so that the length in the radial direction is gradually shortened up to 0 degrees. However, in this case, since the rotation angle and the distance do not correspond one to one, the slits 24 and 25 for generating the reference pulse may be formed at the positions corresponding to the rotation angle of 0 degree and the rotation angle of 180 degrees. In addition, in this type, the rotor 1 is formed in a point-symmetrical shape around the rotation axis 2,
Since the center of gravity is on the rotating shaft 2 and the rotor 1 does not vibrate even when rotating at high speed, it is suitable for detecting the rotation angle of the rotating shaft 2 rotated at high speed.
【００２３】また、図５に示す実施例では、回転子１の
カム輪郭面３が、回転角０度から１８０度に至るまで徐
々に半径方向長さが短くなり、回転角１８０度から３６
０度に至るまでは徐々に半径方向長さが長くなるように
形成されている。そして、回転角０度から１８０度の範
囲と、回転角１８０度から３６０度の範囲を識別するた
めの透孔部２６が回転子１の円周方向に沿って形成され
ると共に、当該透孔部２６に対して光を照射する発光素
子２７と、その透過光２８を受光する受光素子２８が透
孔部２６を挟んで対向配設されている。In the embodiment shown in FIG. 5, the cam contour surface 3 of the rotor 1 gradually decreases in radial length from 0 to 180 degrees of rotation angle, and 180 to 36 degrees of rotation angle.
It is formed so that the length in the radial direction gradually increases up to 0 degrees. A through hole portion 26 for identifying the range of the rotation angle of 0 to 180 degrees and the range of the rotation angle of 180 to 360 degrees is formed along the circumferential direction of the rotor 1, and the through hole is formed. A light emitting element 27 that irradiates the portion 26 with light and a light receiving element 28 that receives the transmitted light 28 are arranged to face each other with the through hole portion 26 in between.
【００２４】なお、実施例の説明では、カム輪郭面３ま
での距離を測定する測距センサ４として、光学的な検出
手段を採用した場合について説明したが、本発明はこれ
に限るものではなく、磁気的な検出手段や、超音波を使
用した検出手段等、非接触で測定する任意の検出手段を
採用することができる。また、距離と回転角が直線的に
変化するようにカム輪郭面３を形成する場合に限らず、
曲線的に変化するように形成してもよい。さらに、回転
子１は、平板カム状，円筒カム状に限るものではなく、
カム輪郭面３から測距センサ４までの距離が回転角に応
じて変化する形状に形成されていれば任意の形状に形成
することができる。In the description of the embodiment, the optical sensor is used as the distance measuring sensor 4 for measuring the distance to the cam contour surface 3, but the present invention is not limited to this. It is possible to employ any detection means that performs non-contact measurement, such as magnetic detection means or detection means using ultrasonic waves. Further, not only when the cam contour surface 3 is formed so that the distance and the rotation angle change linearly,
You may form so that it may change in a curve. Further, the rotor 1 is not limited to the flat cam shape and the cylindrical cam shape,
If the distance from the cam contour surface 3 to the distance measuring sensor 4 is formed in a shape that changes according to the rotation angle, it can be formed in any shape.
【００２５】なお、カム輪郭面の段差を検出することに
より基準位置を検出すれば、基準パルス発生用のスリッ
トを省略することができる。また、カム輪郭面３の不連
続部分においても連続的に角度を検出しようとする場合
には、一つの回転軸２に、二つの回転子１を任意の位相
差で取り付けて夫々に別々の測距センサ４を設け、一方
の回転子１の不連続部分を他方の回転子１の連続部分で
補うようにすればよい。さらに、測距センサ４で検出さ
れた距離の変化率（増減）によって、回転軸２の回転方
向を知ることもできる。If the reference position is detected by detecting the step on the contour surface of the cam, the slit for generating the reference pulse can be omitted. Further, when it is desired to continuously detect the angle even in the discontinuous portion of the cam contour surface 3, the two rotors 1 are attached to the one rotation shaft 2 with an arbitrary phase difference, and they are separately measured. The distance sensor 4 may be provided so that the discontinuous portion of one rotor 1 is supplemented by the continuous portion of the other rotor 1. Further, the rotation direction of the rotary shaft 2 can be known from the rate of change (increase / decrease) of the distance detected by the distance measuring sensor 4.
【００２６】[0026]
【発明の効果】以上述べたように、本発明によれば、カ
ム輪郭面までの距離を測定することにより回転角を検出
するようにしたので、回転子に複雑なスリットパターン
等を形成したり、多数の光学センサを用いることなく、
塵埃などの多い測定条件の悪い場所でも精度よく検出す
ることができるという大変優れた効果を有し、さらに、
構成が極めて簡単で装置全体のコストを低減することが
できるという効果も有する。As described above, according to the present invention, since the rotation angle is detected by measuring the distance to the cam contour surface, it is possible to form a complicated slit pattern or the like on the rotor. , Without using multiple optical sensors
It has a very excellent effect that it can detect accurately even in places with a lot of dust and other bad measurement conditions.
There is also an effect that the configuration is extremely simple and the cost of the entire apparatus can be reduced.
【図１】 本発明装置の一例を示すフローシート。FIG. 1 is a flow sheet showing an example of the device of the present invention.
【図２】 距離と回転角の関係を示すグラフ。FIG. 2 is a graph showing the relationship between distance and rotation angle.
【図３】 他の実施例を示す斜視図。FIG. 3 is a perspective view showing another embodiment.
【図４】 他の実施例を示す斜視図。FIG. 4 is a perspective view showing another embodiment.
【図５】 他の実施例を示す斜視図。FIG. 5 is a perspective view showing another embodiment.
１・・・回転子 ２・・・回転軸 ３・・・カム輪郭面 ４・・・測距センサ ５・・・演算装置 ６・・・距離−角度変換テ
ーブル ７・・・スリット ８・・・発光素子 ９・・・受光素子DESCRIPTION OF SYMBOLS 1 ... Rotor 2 ... Rotation axis 3 ... Cam contour surface 4 ... Distance measuring sensor 5 ... Calculation device 6 ... Distance-angle conversion table 7 ... Slit 8 ... Light emitting element 9 ... Light receiving element
Claims (2)
取り付けられ、当該回転子（１）のカム輪郭面（３）ま
での距離を非接触で測定する測距センサ（４）が当該カ
ム輪郭面（３）に対峙して配設されると共に、前記カム
輪郭面（３）は測距センサ（４）との距離が回転軸
（２）の回転角に応じて変化するように形成され、前記
測距センサ（４）の出力信号に基づき、カム輪郭面
（３）までの距離と回転軸（２）の回転角との関係を予
め記憶した距離−角度変換テーブル（６）を参照して回
転角を算出する演算装置（５）を備えたことを特徴とす
る回転角検出装置。1. A distance measuring sensor (4), wherein a cam-shaped rotor (1) is attached to a rotary shaft (2), and a distance to a cam contour surface (3) of the rotor (1) is measured in a non-contact manner. ) Is arranged to face the cam contour surface (3), and the distance between the cam contour surface (3) and the distance measuring sensor (4) changes according to the rotation angle of the rotation shaft (2). And a distance-angle conversion table (6) in which the relationship between the distance to the cam contour surface (3) and the rotation angle of the rotation shaft (2) is stored in advance based on the output signal of the distance measurement sensor (4). ), A rotation angle detecting device comprising a calculation device (5) for calculating a rotation angle.
タイプのロータリーエンコーダの回転円盤（Ｄ）と同軸
的に取り付けられてなる前記請求項１記載の回転角検出
装置。2. The rotation angle detecting device according to claim 1, wherein the rotor (1) is coaxially attached to a rotary disk (D) of an incremental type rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18987093A JPH0743134A (en) | 1993-07-30 | 1993-07-30 | Rotation angle detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18987093A JPH0743134A (en) | 1993-07-30 | 1993-07-30 | Rotation angle detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0743134A true JPH0743134A (en) | 1995-02-10 |
Family
ID=16248558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18987093A Pending JPH0743134A (en) | 1993-07-30 | 1993-07-30 | Rotation angle detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0743134A (en) |
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|---|---|---|---|---|
| US5719565A (en) * | 1995-07-07 | 1998-02-17 | Nippndenso Co., Ltd. | Anti-skid controller having accurate road surface detection capabilities |
| EP0882943A1 (en) * | 1997-06-05 | 1998-12-09 | Aktiebolaget SKF | "Device for determining a momentary angular position" |
| CN1330941C (en) * | 2003-06-12 | 2007-08-08 | 夏普株式会社 | Rotation detector |
| JP2010521644A (en) * | 2007-03-16 | 2010-06-24 | エーゲーオー エレクトロ・ゲレーテバウ ゲーエムベーハー | Operating device for stove top, and structure of stove top having such an operating device |
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| JP2015155842A (en) * | 2014-02-20 | 2015-08-27 | Ｎｅｃプラットフォームズ株式会社 | Position detection device and position detection method |
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| US9541465B2 (en) | 2014-10-30 | 2017-01-10 | Hamilton Sundstrand Corporation | Rotary-to-linear conversion for sensor assembly and method of detecting angular position of a target through multiple structures |
| US9562440B2 (en) | 2014-10-30 | 2017-02-07 | Hamilton Sundstrand Corporation | Sensor assembly for detecting position of target surface based on a reference portion of target surface and method |
| US9605953B2 (en) | 2014-10-30 | 2017-03-28 | Hamilton Sundstrand Corporation | Linkage assembly for sensor assembly and method of detecting angular position of a target through multiple structures |
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-
1993
- 1993-07-30 JP JP18987093A patent/JPH0743134A/en active Pending
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|---|---|---|---|---|
| US5719565A (en) * | 1995-07-07 | 1998-02-17 | Nippndenso Co., Ltd. | Anti-skid controller having accurate road surface detection capabilities |
| EP0882943A1 (en) * | 1997-06-05 | 1998-12-09 | Aktiebolaget SKF | "Device for determining a momentary angular position" |
| CN1330941C (en) * | 2003-06-12 | 2007-08-08 | 夏普株式会社 | Rotation detector |
| JP2010521644A (en) * | 2007-03-16 | 2010-06-24 | エーゲーオー エレクトロ・ゲレーテバウ ゲーエムベーハー | Operating device for stove top, and structure of stove top having such an operating device |
| JP2015155842A (en) * | 2014-02-20 | 2015-08-27 | Ｎｅｃプラットフォームズ株式会社 | Position detection device and position detection method |
| GB2533188B (en) * | 2014-10-30 | 2018-06-06 | Hamilton Sundstrand Corp | Sensor assembly for detecting position of spring-loaded target surface and method of detecting position through multiple structures |
| US9541465B2 (en) | 2014-10-30 | 2017-01-10 | Hamilton Sundstrand Corporation | Rotary-to-linear conversion for sensor assembly and method of detecting angular position of a target through multiple structures |
| US9562440B2 (en) | 2014-10-30 | 2017-02-07 | Hamilton Sundstrand Corporation | Sensor assembly for detecting position of target surface based on a reference portion of target surface and method |
| US9605953B2 (en) | 2014-10-30 | 2017-03-28 | Hamilton Sundstrand Corporation | Linkage assembly for sensor assembly and method of detecting angular position of a target through multiple structures |
| US9606009B2 (en) | 2014-10-30 | 2017-03-28 | Hamilton Sundstrand Corporation | Sensor assembly for detecting position of spring-loaded target surface and method of detecting position through multiple structures |
| US9606024B2 (en) | 2014-10-30 | 2017-03-28 | Hamilton Sundstrand Corporation | Sensor assembly and method of detecting position of a target through multiple structures |
| GB2533188A (en) * | 2014-10-30 | 2016-06-15 | Hamilton Sundstrand Corp | Sensor assembly for detecting position of spring-loaded target surface and method of detecting position through multiple structures |
| JP2015148627A (en) * | 2015-04-14 | 2015-08-20 | 株式会社東京精密 | Angle measurement method and angle measurement system |
| JP2018535400A (en) * | 2015-10-01 | 2018-11-29 | レイセオン カンパニー | Multi-dimensional angle determination using high-precision position sensor |
| WO2019190443A3 (en) * | 2017-12-26 | 2020-04-23 | Eczacibasi Yapi Gerecleri Sanayi Ve Ticaret Anonim Sirketi | An adjusting knob |
| CN109238211A (en) * | 2018-10-29 | 2019-01-18 | 中船动力研究院有限公司 | A kind of revolving part absolute value angle acquisition device |
| CN111376106A (en) * | 2018-12-26 | 2020-07-07 | 发那科株式会社 | Origin detection method for machine tool and tool library |
| JP2020104183A (en) * | 2018-12-26 | 2020-07-09 | ファナック株式会社 | Machine tool, and origin detection method of tool magazine |
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| CN111561899A (en) * | 2020-04-29 | 2020-08-21 | 维沃移动通信有限公司 | Folding angle detection method and electronic equipment |
| CN111528908A (en) * | 2020-05-09 | 2020-08-14 | 上海爱声生物医疗科技有限公司 | B-ultrasonic equipment and probe thereof |
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| NO20220259A1 (en) * | 2022-02-28 | 2023-08-29 | Autostore Tech As | Device and a method for determining rotational position of a rotating shaft |
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