JPS5845510A - Rotary encoder - Google Patents

Rotary encoder

Info

Publication number
JPS5845510A
JPS5845510A JP14435381A JP14435381A JPS5845510A JP S5845510 A JPS5845510 A JP S5845510A JP 14435381 A JP14435381 A JP 14435381A JP 14435381 A JP14435381 A JP 14435381A JP S5845510 A JPS5845510 A JP S5845510A
Authority
JP
Japan
Prior art keywords
encoder
slit
rotation angle
light transmitted
detected
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
Application number
JP14435381A
Other languages
Japanese (ja)
Inventor
Hideo Numabe
沼辺 秀男
Hideaki Matsuda
松田 秀明
Takamitsu Abe
阿部 孝光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tohoku Ricoh Co Ltd
Original Assignee
Tohoku Ricoh Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tohoku Ricoh Co Ltd filed Critical Tohoku Ricoh Co Ltd
Priority to JP14435381A priority Critical patent/JPS5845510A/en
Publication of JPS5845510A publication Critical patent/JPS5845510A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34776Absolute encoders with analogue or digital scales
    • G01D5/34784Absolute encoders with analogue or digital scales with only analogue scales or both analogue and incremental scales

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)

Abstract

PURPOSE:To simplify the processing circuit of a sensor, by setting the outside shape of a shielding plate so that the rotation angle and the quantity of light transmitted through a slit have a linear relation. CONSTITUTION:An encoder 4 is attached to a rotating material to change the quantity of light transmitted through a slit 2. A length (r) from a center C of the encoder 4 to the circumferential edge of the encoder 4 is set to satisfy r=atheta+b ((a) and (b) are constants, and anot equal to 0 and b>=0 are true, and theta is the rotation angle from the reference line). Consequently, the rotation angle of the rotating material is detected by the quantity of light transmitted through the slit 2.

Description

【発明の詳細な説明】 本発明は、モータ軸等の被検出物体の精密位置決め等の
情報を処理する光情報処理装置に適用して好適なロータ
リエンコーダに関する。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a rotary encoder suitable for application to an optical information processing device that processes information such as precise positioning of a detected object such as a motor shaft.

従来、アナログ量をデジタル量に変換するエンコーダに
は情報媒体に光を用いる光エンコーダがあるが、これは
コード自体がデジタル信号を生出すものであるから、そ
の精度はコードを持ったスリットの大きさに左右される
。そのため精度を向上させるには、コードをエンコーダ
上に高密度に作らなければならず加工費が増加して不利
である。
Conventionally, there are optical encoders that use light as the information medium for encoders that convert analog quantities into digital quantities, but since the code itself generates a digital signal, its accuracy depends on the size of the slit that holds the code. depends on. Therefore, in order to improve accuracy, the code must be made densely on the encoder, which is disadvantageous because processing costs increase.

また絶対値型エンコーダの場合には1つのコードを示す
スリットそのものが大きくなってしまい、また複雑な絶
対値コードを読込むためのセンサも数多く用いる必要が
あり、複雑な構造となってしまう。増加型エンコーダで
は信号として出力されるコード付スリットを通った光が
1個であるので、位置及び速度情報を得るには、2個の
センサとこのセンサから出力される信号を処理する2個
の回路を設けなければならず、tた信号そのものからは
位置及び速度を検出し得ないので信号合成等の特別な処
理回路を必要とする。
Furthermore, in the case of an absolute value type encoder, the slit itself that indicates one code becomes large, and it is necessary to use many sensors to read the complicated absolute value code, resulting in a complicated structure. In an incremental encoder, only one light beam passes through the coded slit and is output as a signal, so in order to obtain position and velocity information, two sensors and two sensors are required to process the signals output from this sensor. Since the position and velocity cannot be detected from the signal itself, a special processing circuit such as signal synthesis is required.

本発明はかかる点に鑑み、エンコニダの加工が容易でか
つ高密度情報を得て精度を高めることができ、しかも簡
単な処理回路により種々の出力情報を得ることができる
光情報処理装置用ロータリエンコーダを提案することを
主たる目的とする。
In view of these points, the present invention provides a rotary encoder for optical information processing equipment in which the encoder can be easily processed, high-density information can be obtained to improve accuracy, and various output information can be obtained with a simple processing circuit. The main purpose is to propose.

以下本発明の一実施例について図面を参照しながら詳細
に説明する。
An embodiment of the present invention will be described in detail below with reference to the drawings.

第1図A、Bは本発明ロータリエンコーダの一例を示す
図である。4はモータ等軸等の被検出物体に取付けられ
るロータリエンコーダである。軸中心Cより周方向に延
長した基準線!を基に、軸中心Cからエンコーダ4の周
端までの距離rは次の式で表わされる線形関係に設定さ
れている。
FIGS. 1A and 1B are diagrams showing an example of the rotary encoder of the present invention. 4 is a rotary encoder attached to an object to be detected such as a motor with equal axes. A reference line extending in the circumferential direction from the shaft center C! Based on this, the distance r from the axis center C to the circumferential edge of the encoder 4 is set to have a linear relationship expressed by the following equation.

r=aθ + b   ・・・・・・・・・・・・・・
・・・・(1)(a、bは定数、a\o、b≧0、θは
基準線lよりの回転角) 第2図は光情報処理装置の一例を示すブロック図である
。発光部6からの光量は受光部7に伝送される。発光部
6にはフィラメントランプ又は赤外線LEDが、受光部
7にはホトトランジスタ又はホトダイオードが夫々用い
られる。受光部7よりの信号は増幅器8を介して位置信
号出力端9に供給されると共に、微分器10を介して速
度信号出力端11に供給される。更に微分器10よりの
出力は符号検出器12を介して移動方向信号出力端13
に供給される。発光部6と受光部7との間には、第2図
及び第3図に示す如く、発光部6側にスリット2が、受
光部7側に上述したエンコーダ4が相互に接して設けら
此′木。この場合、発光部6よりの光量は、エンコーダ
斗の中心から周端までの距離rが大きいほど受光部7で
検出される光量は少なく、距離rが小さいほど光量は多
いことになる。従って第(1)式に基き、受光部7への
光量りの変化はエンコーダ40回転角θに比例する。
r=aθ + b・・・・・・・・・・・・・・・
(1) (a, b are constants, a\o, b≧0, θ is the rotation angle from the reference line l) FIG. 2 is a block diagram showing an example of an optical information processing device. The amount of light from the light emitting section 6 is transmitted to the light receiving section 7. The light emitting section 6 uses a filament lamp or an infrared LED, and the light receiving section 7 uses a phototransistor or a photodiode. A signal from the light receiving section 7 is supplied via an amplifier 8 to a position signal output terminal 9, and is also supplied via a differentiator 10 to a speed signal output terminal 11. Furthermore, the output from the differentiator 10 is passed through a sign detector 12 to a moving direction signal output terminal 13.
is supplied to As shown in FIGS. 2 and 3, between the light emitting section 6 and the light receiving section 7, the slit 2 is provided on the light emitting section 6 side, and the above-mentioned encoder 4 is provided on the light receiving section 7 side so as to be in contact with each other. 'wood. In this case, as for the amount of light from the light emitting section 6, the larger the distance r from the center of the encoder dot to the peripheral edge, the smaller the amount of light detected by the light receiving section 7, and the smaller the distance r, the larger the amount of light. Therefore, based on equation (1), the change in the amount of light to the light receiving section 7 is proportional to the rotation angle θ of the encoder 40.

すなわち、 L=a′θ + b′   ・・・・・・・・・・・・
・・・・・・(2)(al、b′は定数、a\Q、b≧
0)となる。従って位置信号出力端9には、エンコーダ
4の回転角すなわちエンコーダ4が取付けられたモータ
等により動かされる物体の位置が表わされる。また速度
信号出力端11には、微分器10t (θ=fωdt、tは時間、ωは角速度)の信号が得ら
れる。この信号は角速度の次元をもっているので、該物
体の速度が表示される。更に移動方向信号出力端13に
は、第(3)式において、a′ωがエンコーダ40回転
方向により正又は負の値をとるので、符号検出器12に
より、該物体の移動一方向が表わされることになる。
That is, L=a'θ + b' ・・・・・・・・・・・・
・・・・・・(2) (al, b' are constants, a\Q, b≧
0). Therefore, the position signal output terminal 9 represents the rotation angle of the encoder 4, that is, the position of the object moved by the motor or the like to which the encoder 4 is attached. Further, at the speed signal output terminal 11, a signal from a differentiator 10t (θ=fωdt, t is time, ω is angular velocity) is obtained. Since this signal has the dimension of angular velocity, the velocity of the object is displayed. Further, at the movement direction signal output terminal 13, in equation (3), since a'ω takes a positive or negative value depending on the rotation direction of the encoder 40, the sign detector 12 indicates one direction of movement of the object. It turns out.

以上説明したように本発明によれば、被検出物体に連結
され、該連結部を中心として回転した際の回転速度が上
記中心から周端までの距離の変化と線形関係に設定した
ものであるから、上記被検出物体の回転位置−ば、直ち
に検出することができるのは勿論、微小回転角の検出も
上記線形関係の変化率を大きく設定するだけで可能であ
り、エンコーダ自体の加工の負担が少ない。従って簡単
な加工で高精度の光情報を処理することができる。
As explained above, according to the present invention, the rotational speed when connected to an object to be detected and rotated around the connecting portion is set to have a linear relationship with the change in distance from the center to the peripheral edge. Therefore, not only can the rotational position of the object to be detected be detected immediately, but also detection of minute rotational angles is possible simply by setting a large rate of change in the linear relationship described above, which reduces the processing burden on the encoder itself. Less is. Therefore, highly accurate optical information can be processed with simple processing.

【図面の簡単な説明】[Brief explanation of drawings]

第1図A、  Bは本発明の一例を示す図、第2図は光
情報処理装置の一例を示すブロック図、第3図はエンコ
ーダとスリットとの関係を示す図である。 、C・・・軸中心、l・・・基準線、r・・・周端まで
の距離、4・・・ロータリエンコーダ。 代理人 解理士 秋  山   高 A  第1図   B 第2rq ■ ■ 第3図
1A and 1B are diagrams showing an example of the present invention, FIG. 2 is a block diagram showing an example of an optical information processing device, and FIG. 3 is a diagram showing the relationship between an encoder and a slit. , C...axis center, l...reference line, r...distance to peripheral edge, 4...rotary encoder. Agent Anatomist Akiyama High A Figure 1 B 2nd rq ■ ■ Figure 3

Claims (1)

【特許請求の範囲】[Claims] 被検出物体に連結され、該連結部を中心として回転した
際の回転速度が上記中心から周端までの距離の変化と線
形関係に設定したことを特徴とするロータリエンコーダ
A rotary encoder connected to an object to be detected, wherein the rotational speed when rotating around the connecting portion is set in a linear relationship with a change in the distance from the center to the peripheral edge.
JP14435381A 1981-09-12 1981-09-12 Rotary encoder Pending JPS5845510A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14435381A JPS5845510A (en) 1981-09-12 1981-09-12 Rotary encoder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14435381A JPS5845510A (en) 1981-09-12 1981-09-12 Rotary encoder

Publications (1)

Publication Number Publication Date
JPS5845510A true JPS5845510A (en) 1983-03-16

Family

ID=15360126

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14435381A Pending JPS5845510A (en) 1981-09-12 1981-09-12 Rotary encoder

Country Status (1)

Country Link
JP (1) JPS5845510A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6073417A (en) * 1983-09-30 1985-04-25 Niigata Eng Co Ltd Photoelectric angle detector
US4692613A (en) * 1984-04-24 1987-09-08 Jeco Co., Ltd. Angle sensor
JPH0361516U (en) * 1989-10-19 1991-06-17
WO1994008208A3 (en) * 1992-10-02 1994-06-09 Philip K Chin Optical displacement sensor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50113250A (en) * 1974-02-14 1975-09-05
JPS5250143A (en) * 1975-10-21 1977-04-21 Tokio Sakurai Multi-stage focusing equipment

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50113250A (en) * 1974-02-14 1975-09-05
JPS5250143A (en) * 1975-10-21 1977-04-21 Tokio Sakurai Multi-stage focusing equipment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6073417A (en) * 1983-09-30 1985-04-25 Niigata Eng Co Ltd Photoelectric angle detector
US4692613A (en) * 1984-04-24 1987-09-08 Jeco Co., Ltd. Angle sensor
JPH0361516U (en) * 1989-10-19 1991-06-17
WO1994008208A3 (en) * 1992-10-02 1994-06-09 Philip K Chin Optical displacement sensor

Similar Documents

Publication Publication Date Title
DE3562947D1 (en) Position-measuring apparatus
ES2088190T3 (en) ROTATION ANGLE MEASUREMENT SYSTEM.
US4201911A (en) Shaft angle digitizer
US6184518B1 (en) Rotary encoder with multiple calibration points
JPS5845510A (en) Rotary encoder
US3564533A (en) Triangular graphic digitizer
EP0087521A3 (en) Angle-measuring device
JP2977821B1 (en) Rotation amount measuring device
US4468666A (en) Apparatus for determining a reference position of a moving member
JPS60100015A (en) Rotary encoder
EP0474362B1 (en) Angular velocity sensing apparatus
GB1454564A (en) Rotational position sensor
US3935570A (en) Spinning-disk shaft position encoder
CN110440842B (en) Encoder without code disc
US3538333A (en) Electro-optical displacement amplifier
SE9403547L (en) Device for measuring the shape and / or shape errors on bodies
KR940010897B1 (en) Rotational position detector for robot
JPS60164213A (en) Rotary encoder
JPH04259Y2 (en)
JPS63250522A (en) Optical rotary encoder
JPH0142048Y2 (en)
GB1494626A (en) Navigation aids
GB983961A (en) Improvements in or relating to electro optical micrometers
JPH0666597A (en) Absolute type rotary encoder
JPS61107164A (en) Apparatus for detecting rotary speed