JPS59602A - Angle detector for rotating body - Google Patents
Angle detector for rotating bodyInfo
- Publication number
- JPS59602A JPS59602A JP10971682A JP10971682A JPS59602A JP S59602 A JPS59602 A JP S59602A JP 10971682 A JP10971682 A JP 10971682A JP 10971682 A JP10971682 A JP 10971682A JP S59602 A JPS59602 A JP S59602A
- Authority
- JP
- Japan
- Prior art keywords
- plate
- rotating
- fixed
- rotating shaft
- 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
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
【発明の詳細な説明】 本発明は1回転体の回転角度検出装置に関する。[Detailed description of the invention] The present invention relates to a rotation angle detection device for a single rotating body.
回転体の角度検出は、一般的にロータリ・エンーコーダ
が使用される。ロータリエンコーfKは一0回転量の検
出を目的としたインクリメント方式と、一回転角度の検
出を目的としたアブソリュート方式とがある。後者のア
ブソリュート方式は1回転量の検出も可能で機能的には
優れているが、高価であること、信号処理数が多いとの
欠点を持つ。A rotary encoder is generally used to detect the angle of a rotating body. There are two types of rotary encoder fK: an incremental type for detecting the amount of 10 rotations, and an absolute type for detecting the angle of one rotation. The latter absolute method can detect the amount of one rotation and is functionally superior, but it has the drawbacks of being expensive and requiring a large number of signal processing steps.
更に1回転機の精密な制御は、負荷軸の最終端の動きを
検出することを基本的に必要とするが、自動機の構造(
スペース)によってはロータリエンコーダの取付けが困
難である。これに伴って1回転機の開発時あるいは製作
時の実機 ゛デバッグで1機械・制御(ハード)・ソフ
トの調整基準が不明確となるため、精密な調整・制御を
困難にさせている。Furthermore, precise control of a one-rotation machine basically requires detecting the movement of the final end of the load shaft, but the structure of the automatic machine (
It may be difficult to install a rotary encoder depending on the space available. As a result, the adjustment standards for a single machine, control (hardware), and software become unclear during debugging of the actual machine during development or production of a single-rotation machine, making precise adjustment and control difficult.
本発明の目的は1回転体の角度検出を容易にし、且つ小
形化で自動機の制御および冥機デバッグ時のフィードバ
ック制御ζ〜恢実に可能としてなる回転体の回転角度検
出゛装置を提供する髪のである。An object of the present invention is to provide a device for detecting the rotation angle of a rotating body that facilitates the detection of the angle of a single rotating body and that is miniaturized to enable automatic machine control and feedback control during machine debugging. It is.
本発明の要旨は、被測定回転軸に半円板状の回転板を連
結し、該回転板と静電結合状態を持つ固定板を設置し、
該回転板の回転量を静電容量の変化として検出した点に
ある。The gist of the present invention is to connect a semicircular rotating plate to a rotating shaft to be measured, install a fixed plate that is electrostatically coupled to the rotating plate,
The point is that the amount of rotation of the rotating plate is detected as a change in capacitance.
以下1図、面により本発明を詳述する。The present invention will be explained in detail below with reference to FIG.
第1図は本発明の回転角度検出装置の実施例図を示す。FIG. 1 shows an embodiment of the rotation angle detection device of the present invention.
図で6回転軸11は被測定回転軸である。回転軸11ニ
カノプリング1oを介して測定回転軸5を結合する。測
定回転軸11は絶縁物9によって、測定回転軸と絶縁さ
れている。In the figure, the rotation axis 11 is the rotation axis to be measured. The measuring rotating shaft 5 is coupled to the rotating shaft 11 via the Nicanopring 1o. The measurement rotation shaft 11 is insulated from the measurement rotation shaft by an insulator 9 .
半円板形状を有する円板1は測定回転軸5に直結し1回
転軸5と共に回転する。測定回転軸11は、絶縁すべり
軸受6,7を介して本体8に固定し1回転自在をなす。A disk 1 having a semi-circular plate shape is directly connected to a measuring rotation shaft 5 and rotates together with the rotation shaft 5. The measurement rotation shaft 11 is fixed to the main body 8 via insulated slide bearings 6 and 7, and is rotatable once.
半円形状の固定板2aの直径方向を、なす端面部20の
中心部には半円形状の切欠部20Qを持つ。A semicircular notch 20Q is provided at the center of the end face 20 extending in the diameter direction of the semicircular fixing plate 2a.
この切欠部200半径は回転軸50半゛径よりも大きく
設定されでいる。切欠部2oαを回転軸5に接触しない
で且つ回転軸5を挟む込むような位装置に固定する。固
定板2acr)端面部20の肩部には突起があ2この突
起に固定棒4αの一抱が固定(−1更に該固定棒4αの
他端は本体に絶縁プツシs5aを介して固定する。かく
して、固定板2αは本体8に固定する。The radius of this notch 200 is set larger than the radius of the rotating shaft 50. The notch 2oα is fixed to a device such that it does not come into contact with the rotating shaft 5 and that the rotating shaft 5 is sandwiched therebetween. There are two protrusions on the shoulder of the end face portion 20 of the fixing plate 2acr, and one part of the fixing rod 4α is fixed to the protrusions (-1).Furthermore, the other end of the fixing rod 4α is fixed to the main body via an insulating pusher s5a. In this way, the fixing plate 2α is fixed to the main body 8.
固定棒4αは表面に導電層が形成され、電極の役割を持
つ。端子3αは電極4からの電気の取出し端子となる。A conductive layer is formed on the surface of the fixed rod 4α and serves as an electrode. The terminal 3α becomes a terminal for taking out electricity from the electrode 4.
固定板2bは、半円形状の固定板2αと同様な構造をな
す。即ち、同一半径であり、湖面部21を持ち、同一半
径の切欠部21hを持ち、且つ電極兼用の固定棒4b及
び絶縁プツシ、5Aを介して本体8に固定している。The fixing plate 2b has a similar structure to the semicircular fixing plate 2α. That is, they have the same radius, have the lake surface part 21, have the notch part 21h of the same radius, and are fixed to the main body 8 via the fixing rod 4b which also serves as an electrode and the insulating pusher 5A.
固定板2αと固定板2bとは回転板1を侠む位置に設置
し1月つ固定板2aと固定板2bとは互いンこ90°の
角度をなす位置に固定している。The fixed plate 2α and the fixed plate 2b are installed at positions adjacent to the rotary plate 1, and the fixed plate 2a and the fixed plate 2b are fixed at positions forming an angle of 90° with each other.
かかる固定板2aと固定板2bとの位置関係のもとで1
回転板1が回転軸5と共に回転する。回転体10回転に
より1回転板1と固定板2a及び回転板1と固定板2b
とのそれぞれの間の静電容量Cα、cbが変化する。静
電容量C’a 、 C’bは回転板10回転角度によっ
て変化・することになり、結局、静電容量を検出するこ
とによって回転軸11及び5の回転角度を検出できる。Under the positional relationship between the fixed plate 2a and the fixed plate 2b, 1
The rotating plate 1 rotates together with the rotating shaft 5. When the rotating body rotates 10 times, the rotating plate 1 and the fixed plate 2a and the rotating plate 1 and the fixed plate 2b rotate once.
The capacitances Cα and cb between the two change. The capacitances C'a and C'b change depending on the rotation angle of the rotary plate 10, and the rotation angles of the rotary shafts 11 and 5 can be detected by detecting the capacitance.
回転板1からの電気信号を取出すだめの取出し端子は1
回転軸5を介してブラシ等を介して形成する。更に。The output terminal for taking out the electrical signal from the rotating plate 1 is 1.
It is formed via the rotating shaft 5 using a brush or the like. Furthermore.
導電層を表面に有する固定棒4g 、 44は直接に本
体8に電気的に接触することなく、絶縁されている。端
子の取出し方及び本体との絶縁の仕方は通常、公知の構
成になる。The fixing rods 4g and 44 having conductive layers on their surfaces do not come into direct electrical contact with the main body 8 and are insulated. The method of taking out the terminal and the method of insulating it from the main body are generally known.
第2図は回転板10回転による固定板2α、27と回転
板1との間の静電容量(、’a 、 (、’bの変化す
る様子を説明する図である。(イ)、(ハ)、(ホ)、
(ト)図は回転板1と固定板2αとの関係図、(ロ)、
に)、(へ)。FIG. 2 is a diagram explaining how the capacitances (,'a, (,'b) change between the fixed plates 2α, 27 and the rotating plate 1 due to 10 rotations of the rotating plate. (A), ( c), (e),
(g) The figure is a diagram of the relationship between the rotating plate 1 and the fixed plate 2α, (b)
To the).
(チ図は回転板1と固定板2bとの関係図である。(Figure 1 is a diagram showing the relationship between the rotating plate 1 and the fixed plate 2b.
回転板1の初期状態を第1図の如く、固定板2aと18
0°の異なる位置(固定板2bとの間では90°異なる
位置)とする。The initial state of the rotary plate 1 is as shown in FIG.
The positions are different by 0° (the positions are different by 90° from the fixed plate 2b).
この初期状態である回転角度0°の場合には。In this initial state, when the rotation angle is 0°.
それぞれ(イ)、(C11図となる。斜線部が重なり合
う部分である。初期状態から90°の回転をすると。Figures (A) and (C11) are shown respectively.The shaded areas are the overlapping parts.When rotated by 90 degrees from the initial state.
(/]、に)図となる。180°の回転をすると(ホ)
、(へ)図となる。270°の回転をすると(ト)、(
ハ)図となる。(/], to) Figure. When rotated by 180° (E)
, (to) become a figure. When rotated by 270°, (g), (
c) It becomes a diagram.
今1回転板1と固定板2aとの重なり面積(7重なり面
積と呼ぶ)をSa、回転板1と固定板2hとの重なり面
積(8重なり面積と呼ぶ)をStとすると、この重なり
面積によって得られる静電容量C’a 、 C’hは、
略。Now, let Sa be the overlapping area between rotating plate 1 and fixed plate 2a (referred to as 7 overlapping area), and St be the overlapping area between rotating plate 1 and fixed plate 2h (referred to as 8 overlapping area). The obtained capacitances C'a and C'h are:
Omitted.
となる。ここでε・は空気中の誘電率、D・は回転板1
と固定板2αとのギャップ寸法、Dbは回転板1と固定
板2hとのギャップ寸法を示す。becomes. Here, ε・ is the dielectric constant in air, and D・ is the rotating plate 1.
and the fixed plate 2α, and Db indicates the gap size between the rotary plate 1 and the fixed plate 2h.
(11、(21式で1重なり面積Sa 、 5bは回転
角度によって直線的に変化する故、静電容1iitca
、 (、’bは回転角度に比例した値となる。かくし
て、静電 −容置を検出することによって回転角度を
検出できることになる。(11, (In formula 21, 1 overlap area Sa, 5b changes linearly depending on the rotation angle, so the capacitance 1iitca
, (,'b is a value proportional to the rotation angle. Thus, the rotation angle can be detected by detecting the electrostatic capacity.
第3図(イ)、(0)に1回転板10回転角度を横軸に
とり縦軸に静電容量C″a 、 C,6をとってなる静
電容量特性を示す。特性13αはC’aの特性、特性1
54はC6の特性を示す。Cαの特性では 、o→18
a°で直線でCαは増加し、180°→36o0で直線
で減少する。以下、180°単位で同様な特性を示す。Figures 3 (A) and (0) show the capacitance characteristics where the horizontal axis represents the 10 rotation angle of one rotating plate and the vertical axis represents the capacitances C″a, C, and 6.Characteristic 13α is C′ Characteristics of a, characteristics 1
54 indicates the characteristics of C6. In the characteristic of Cα, o→18
Cα increases linearly at a° and decreases linearly from 180°→36o0. Similar characteristics will be shown below in units of 180°.
cbの特性では、90°→270°で直線でcbが増加
し、270゜→450°で直線でcbは減少する。以下
、180°単位で同様な特性を示す。In terms of cb characteristics, cb increases linearly from 90° to 270°, and decreases linearly from 270° to 450°. Similar characteristics will be shown below in units of 180°.
第5図(Olで、0’、180°、 s6r; 、 −
−−−・−の位置でのC′bの値cthをヌレノシI−
ルド値(閾値)とすると、 chQ値がcb>cthの
時、0〜180°の範囲となり、 cb≦cthO時、
180°〜560°の範囲となる。従って、Cbとct
hとの大小比較をもとにCαの値からその時の角度を検
出でき木。Figure 5 (Ol, 0', 180°, s6r; , -
The value cth of C′b at the position of −−・− is
When the chQ value is cb>cth, it is in the range of 0 to 180°, and when cb≦cthO,
The range is from 180° to 560°. Therefore, Cb and ct
The angle at that time can be detected from the value of Cα based on the size comparison with h.
第4図は回転角度検出回哨の実施例を示す図である。容
量/を正変換回路15αは端子4aと端子12(回転軸
5より得られる回転板1からの引出し端子である)とか
ら容量Cαを取込み電圧に変換する。容量/電圧変換回
路15jSは附子4bと端子12とから容1ll(、’
aを取込入電圧に変換する。FIG. 4 is a diagram showing an embodiment of the rotation angle detection sentry. The capacitance/positive conversion circuit 15α takes the capacitance Cα from the terminal 4a and the terminal 12 (which is a lead-out terminal from the rotating plate 1 obtained from the rotating shaft 5) and converts it into a voltage. The capacitance/voltage conversion circuit 15jS has a capacitance of 1ll(,'
Convert a to input voltage.
アンプ16a 、 16Bは容量/電圧変換回路15α
。Amplifiers 16a and 16B are capacity/voltage conversion circuits 15α
.
15bの出力を取込み所定の増巾を行う。The output of 15b is taken in and a predetermined width is increased.
AD変換器17は、アンプ16aの出力を吹込みサンプ
ル・ホールド後、AD変換する。角度変換回w118は
、比較器21の制御をうけAD変換器1Dの出力を角度
、に変換する。The AD converter 17 samples and holds the output of the amplifier 16a, and then performs AD conversion. The angle conversion circuit w118 converts the output of the AD converter 1D into an angle under the control of the comparator 21.
比較器21は、アンプ16bの出力Vbと基準値Vcc
から与えられる閾値Vthとの大小比較を行い。The comparator 21 compares the output Vb of the amplifier 16b with the reference value Vcc.
The magnitude is compared with the threshold value Vth given from .
Vb > Vthの時に1を出力し、 Vb≦ythの
時に10を出力する。この1.Qは角度変換回路IBK
制御信号として入力し0°〜180°にあるか、 1
so’〜660Qの範囲にあるかの決定に供する。Outputs 1 when Vb > Vth, and outputs 10 when Vb≦yth. This 1. Q is angle conversion circuit IBK
Is it input as a control signal and is between 0° and 180°? 1
It is used to determine whether it is in the range of so' to 660Q.
デコーダ19は角度変換回路1Bの出力を取込み。The decoder 19 takes in the output of the angle conversion circuit 1B.
第6図に従った特性に基づき角度の解読を行う。The angle is interpreted based on the characteristics according to FIG.
表示器20はデコーダ19の解読角度の表示を行う。The display 20 displays the decoding angle of the decoder 19.
更に、デコーダ19での解読角度は他の自動制御系に取
込まれ、各種制御に供する。Furthermore, the angle decoded by the decoder 19 is taken into another automatic control system and used for various controls.
第5図は第1図に示した角度検出装置の断面図を示す。FIG. 5 shows a sectional view of the angle detection device shown in FIG.
同一記号は同一指示を行っており。Identical symbols indicate the same instructions.
特別の説明は不用であろう。No special explanation is necessary.
第6図は第5図の実施例に比べて固定板を各固定板それ
ぞれに1枚増やし、且つそれに伴って回転板を増やした
実施例図である。FIG. 6 is a diagram showing an embodiment in which the number of fixed plates is increased by one for each fixed plate and the number of rotary plates is accordingly increased compared to the embodiment shown in FIG. 5.
第6図で6回転板1の他[2板の回転板1′。In Fig. 6, there are six rotating plates 1 and two rotating plates 1'.
1′を回転軸に゛取付けている。固定板2αの他に対と
なる固定板2a′を設け、且つ固定板2aと2a′との
間に回転板1′を取り付ける。固定板2bの他に対とな
る固定板゛2b′を設け、且つ固定板2bと2b′との
間に回転板Cを取り付ける。そして回転板1と固定板2
a1回転板1′i固定板2α1回転板1′と固定板2α
′からなる3個のコンデンサの並列接続とするべく配線
するL−更に1回転板1と固定板2b。1' is attached to the rotating shaft. In addition to the fixed plate 2α, a pair of fixed plates 2a' is provided, and a rotary plate 1' is installed between the fixed plates 2a and 2a'. In addition to the fixed plate 2b, a pair of fixed plates 2b' is provided, and a rotary plate C is attached between the fixed plates 2b and 2b'. And rotating plate 1 and fixed plate 2
a1 Rotating plate 1'i Fixed plate 2α1 Rotating plate 1' and fixed plate 2α
'L--further, the one-rotation plate 1 and the fixed plate 2b.
固定板2にと回転板仁回転板1#と固定板2邊′がら゛
なる5個のコンデンサの並列接続とするべく配線する。Five capacitors are connected in parallel between the fixed plate 2, the rotary plate 1#, and the fixed plate 2'.
かかる6個の並列接続のコンデンサの特性は第5図に示
す如き傾向となり、角度検出ができる。本実施例では、
3個のコンデンサを使用することになり、検出精度が向
上する利点を持つ。The characteristics of the six parallel-connected capacitors tend to be as shown in FIG. 5, allowing angle detection. In this example,
Three capacitors are used, which has the advantage of improving detection accuracy.
本発明によれば、簡単な構成で精度の高い角度検出が可
能になった〇According to the present invention, highly accurate angle detection is possible with a simple configuration〇
第1図は本発明の検出装置の実施例の斜視図。
第2図U)〜例は回転角度の重なり面積を説明する図、
第3図(イ)、(帽ま検出特性図、第4図は検出回路の
実施例図、第5図は第1図の実施5例の断面図、第6図
は本発明の検出装置の他の実施例゛の断面図である。
1・・・回転板s 2” * 2b ”’固定板、
15a 、 15j!l−・。
容量/電圧変換回路、18・・・角度検出回路、19・
・。
デコーダ、21・・・比較器。
代理人弁理士 薄 1)利 。’−*”−1才 5
図
才 6 図FIG. 1 is a perspective view of an embodiment of the detection device of the present invention. Figure 2 U) ~ Example is a diagram explaining the overlapping area of rotation angles,
Fig. 3 (a), (cap detection characteristic diagram) Fig. 4 is an embodiment of the detection circuit, Fig. 5 is a sectional view of the fifth embodiment of Fig. 1, and Fig. 6 is a diagram of the detection device of the present invention. It is a sectional view of another embodiment. 1...Rotating plate s 2'' * 2b '' fixed plate;
15a, 15j! l-・. Capacity/voltage conversion circuit, 18... Angle detection circuit, 19.
・. Decoder, 21... comparator. Representative Patent Attorney Bo 1) Li. '-*”-1 year old 5
Illustration 6
Claims (1)
状の回転板と、該回転板の回転軸に沿った前後の位置に
該回転軸とは無関係に固定して設置され且つ上記回転板
の半円形状と同一形状を有する第1.第2の固定板と、
上記回転板と第1の固定板との間の静電結合状態及び上
記回転板と第2の固定板との間の静電結合状態とを取込
み被測定回転軸の回転角度検出を行う手段とより成る回
転体の角度検出装置。 2、 上記第1.第2の固定板は回転軸の垂直方位の中
で互いに90°異なる位置に固定してなる特許請求の範
囲第1項記載の回転体の角度検出装置。[Scope of Claims] 1. A semicircular rotary plate connected directly or indirectly to a rotating shaft to be measured, and a rotating plate fixed at front and rear positions along the rotating shaft independently of the rotating shaft. The first rotary plate is installed in the same direction and has the same shape as the semicircular shape of the rotary plate. a second fixing plate;
means for detecting the rotation angle of the rotating shaft to be measured by capturing the electrostatic coupling state between the rotating plate and the first fixed plate and the electrostatic coupling state between the rotating plate and the second fixed plate; An angle detection device for a rotating body consisting of: 2. Above 1. 2. The angle detecting device for a rotating body according to claim 1, wherein the second fixing plates are fixed at positions 90° different from each other in the vertical direction of the rotation axis.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10971682A JPS59602A (en) | 1982-06-28 | 1982-06-28 | Angle detector for rotating body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10971682A JPS59602A (en) | 1982-06-28 | 1982-06-28 | Angle detector for rotating body |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS59602A true JPS59602A (en) | 1984-01-05 |
Family
ID=14517410
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10971682A Pending JPS59602A (en) | 1982-06-28 | 1982-06-28 | Angle detector for rotating body |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS59602A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140375340A1 (en) * | 2013-06-25 | 2014-12-25 | Schlumberger Technology Corporation | Capacitor Based Angle Sensor |
-
1982
- 1982-06-28 JP JP10971682A patent/JPS59602A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140375340A1 (en) * | 2013-06-25 | 2014-12-25 | Schlumberger Technology Corporation | Capacitor Based Angle Sensor |
WO2014210153A1 (en) * | 2013-06-25 | 2014-12-31 | Schlumberger Canada Limited | A capacitor based angle sensor |
US9772174B2 (en) * | 2013-06-25 | 2017-09-26 | Schlumberger Technology Corporation | Capacitor based angle sensor |
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