JPS60162921A - Pulse encoder for detecting rotation of rotating body - Google Patents

Abstract

PURPOSE:To monitor a rotational frequency properly by providing a sampling signal generating circuit, a battery, and a rotational angle detector for <=1 turn, and allowing an output circuit to receive outputs of a counter circuit and the rotational angle detector in parallel. CONSTITUTION:A pulse generated for every turn of a rotating body 1 is utilized to counts up and down the rotational frequency of the rotating body 1, the battery 8 as a power supply to an integrated circuit is provided, and sensors 3 and 4 and amplifiers 5 and 6 are operated with pulses from the sampling signal generating circuit 77. A code plate 10 on the rotating shaft of a motor and detectors 111 and 112 provided opposite it constitute the rotational angle detector 11 for <=1 turn, and its output and the output of the counter circuit 7 are inputted to the output circuit 13 in parallel. Thus, the consumption of the battery is reduced and the economical, small-sized device is constituted.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a pulse encoder for detecting rotation of a rotating body.

The pulse encoder according to the present invention is a so-called full stroke absolute IJ, which is capable of counting the number of revolutions of a rotating body and also detecting the rotation angle within one revolution.
Noyals encoder, that is, a type of encoder that can detect the entire stroke including the rotation speed and rotation angle even if it rotates more than one revolution, and can detect the angle not only as an incremental value but as a final absolute angle value. This encoder is used, for example, to detect and control the position of a rodet's arm.

Prior Art Conventionally, this type of detection device has been developed by interposing a speed reducer between the input shaft and output shaft of the motor (for example, when the motor is
000 rotations, the output shaft rotates once), and by providing a resolver on the output shaft, the rotation speed of the motor and 1
There is a device that detects a rotation angle within a rotation, but such a device requires a multi-stage reduction gear, a resolver, a phase detection circuit, etc., and has a relatively complicated configuration, so that it is not always possible to obtain a satisfactory result. .

OBJECT OF THE INVENTION The object of the present invention is to perform pulse logic processing on a signal from a sensor that detects the rotation of a rotating body, and to integrate the number of rotations of the rotating body using a counter circuit that counts up and down in the direction of rotation of the rotating body. At the same time, one part of the rotating body is detected by a code plate that rotates together with the rotating body and a rotation angle detection device that opposes the code plate.
In a full stroke absolute IJ neat pulse encoder configured to detect rotation angles within rotation, the counter circuit is made of an integrated circuit (CMO8 circuit) powered by a battery and using complementary MO8 field effect transistors.
Based on the idea that the sensor is configured with a sampling signal generation circuit and that the sensor is operated for sampling by the sampling pulse generated by the sampling signal generation circuit, while reducing the consumption of the battery as a power source of the CMO8 integrated circuit, To provide an advantageous full-stroke absolute type rotation speed and rotation angle detection device by allowing the rotation speed to be properly monitored in a state where NC power is not turned on.

Structure of the Invention In the present invention, two different predetermined
Two rotation detection sensors that generate signals corresponding to rotation at two positions, respectively, and a complementary MO8 electric field that performs pulse logic processing on the output signals from the sensors and counts up and down the number of rotations of the rotating body depending on the direction of rotation. A counter circuit consisting of an integrated circuit using effect transistors, which has a sampling signal generation circuit for sampling the sensor, a battery that supplies power to the integrated circuit, a code plate that rotates together with the rotating body, and Provided is a pulse encoder for detecting the rotation of a rotating body, which includes a rotation angle detection device within one rotation consisting of opposing detection devices, and an output circuit that receives outputs of the counter circuit and the rotation angle detection device in parallel. .

Embodiment FIG. 1 is a block diagram showing an embodiment of the configuration of a pulse encoder according to the present invention. at two different predetermined positions (for example, at 90° as shown in FIGS. 1 and 2).
Two rotation detection sensors 3 and 4 are provided that generate signals corresponding to rotation (at positions shifted by
The signals from ゜4 are amplified by amplifiers 5 and 6, respectively, and then inputted to a counter circuit 7 consisting of 8 CMO integrated circuits, which undergoes logic processing and generates one signal per rotation of the rotating body. The number of rotations of the rotating body is counted up and down using the GRU (for example, when the rotating body rotates clockwise, it is counted up, or added, and when it rotates counterclockwise, it is counted down, or subtracted), and the rotation speed of the rotating body is calculated. Integrate the number of rotations. 8 is the commercial
A battery (e.g. +3.4
V) The sensors 3, 4 and the amplifier 5.6 are connected to the CM
The sampling signal generation circuit 77 (
(See Figure 3).

On the other hand, a code plate lO provided on the rotating shaft of the motor,
A rotation angle detection device 11 that detects a rotation angle within one revolution by a detection device (in the embodiment shown in FIG. 1, it consists of a light emitting diode group 111 and a corresponding light receiving element group 112) provided opposite to it. Configure.

The output of the counter circuit 7 and the output of the rotation angle detection device 11 are inputted in parallel to an output circuit 13, and on the output side, a signal corresponding to the number of rotations and a rotation angle within one rotation is obtained. For example, a robot control device can read the current position.

Note that 12 is an amplifier for amplifying the signal from the rotation angle detection device 11, which includes the light emitting diode group 111,
As a power source for the amplifier 12 and the output circuit 13, an NC power source (a common power source for the numerical control device, for example +5V) is used.

FIG. 2 shows a specific example of a circuit that causes rotation detection sensors 3 and 4 to generate signals corresponding to the rotation of a rotating body. A permanent magnet 2 is provided, and magnetic sensors 3 and 4 are provided as rotation detection sensors facing the rotating body and are shifted by 90 degrees from each other. increases.

The sensors 3 and 4 are supplied with sampling pulses SLP generated from the sampling signal generation circuit 77 through resistors 91 and 92, respectively, and are connected to the intermediate point between the resistor 91 and the magnetic sensor 3 and between the resistor 92 and the magnetic sensor 4. The output voltage is output from the midpoint between the amplifiers 5 and 6, respectively.
input.

Therefore, during the period when the permanent magnet 2 of the rotating body is facing the magnetic sensor 3 or 4, an output voltage consisting of the above-mentioned series of sampling pulses is generated on the output side of the amplifier 5 or 6; , during the period when the gap between the rotating body and the magnetic sensor is widening, no output is produced from the amplifier. Note that the sampling pulse SLP generated from the sampling signal generation circuit 77 is also used as the power source for the amplifiers 5 and 6 (see FIG. 1).

In order to operate the sensor that detects the rotation of the rotating body and the amplifier that amplifies the signal from the sensor using the sampling pulse generated by the sampling signal generation circuit, the battery that is the power source of the CMO8 integrated circuit is used. consumption can be reduced.

FIG. 3 is a circuit diagram showing a specific example of the counter circuit 7 in the device shown in FIG.
1), Clock signal input terminal CLK1 enable terminal E
Up/down counter with N, 71.72, 76 is 7 Ritsunoflop, 73°74 is Nand dart, 75 is Noader), 761°762.763, 764,765
is an inverter, and the clock signal is the sampling pulse S
With the same period as LP, flip-flop 71.72.76
and up/down counter clock signal input terminal C
Supplied to LK.

The flip-flops 71 and 76 have the function of a latch circuit, and by inputting the outputs from the amplifiers 5 and 6 from points A and B through predetermined inverters, the rotation of the rotating body is made half a rotation. Long cycle of repeating high and low voltage levels every time (i.e. one cycle per rotation of the rotating body)
Pulse.

Flip-flop 72 delays the output waveform of flip-flop 71 by one clock. Nando Dartoa 3
．． By appropriately combining the outputs of the flip-flops 71 and 72 and inputting them to 74, the fall of the nof pulse that repeats 1 and 0 every half rotation of the rotary body output from the flip-flops is inputted to 74. In addition to detecting the start-up time or start-up time (collapse occurs once per rotation of the rotating body) (for example, detect it as a fall-off time), the output state of the amplifier 6 at that time is also detected. The output from the point is input as the output of the flip-flop 76 via a predetermined inverter.

In this way, at that point Nandda) 73.74
When one output is 1, the other is O, and these outputs are respectively inverted depending on the rotation direction of the rotating body.

Since the output of the NAND r-) 73.74 is input to the enable terminal EN of the up/down counter 70 via the Nordart 75, the counter 70 is activated once per rotation no matter which direction the rotating body rotates. The counter is activated one by one. On the other hand, only the output of the Nando Dart 73 is input to the up/down terminal U/D of the counter 70 via the inverter 761, so for example, when the rotating body rotates clockwise, an up or addition process is performed and the rotating body rotates counterclockwise. Time is a down or subtraction process. In this way, it is counted how many times the rotating body has finally rotated in which direction.

FIG. 4 shows an example of the code plate lO in the apparatus shown in FIG. 1. In the illustrated example, the light blocking area 101 and the light transmitting area 102 are arranged every 180° and every 90°.

By forming 4 rows every 45 degrees and every 22.5 degrees, depending on the rotation angle of the code plate (in the illustrated case, 4 rows are
A predetermined signal is generated as a 4-bit binary code (every 60°).

FIG. 5 shows the rotation angle detection device 11 in the device shown in FIG.
FIG. 2 is a circuit diagram showing an example of the connection relationship between the adder 12, the counter circuit 7, and the output circuit 13;
The signal corresponding to the rotational speed of the rotary body counted by the Azzo down counter 70 in A signal corresponding to a rotation angle within one rotation obtained by amplifying the output of the detection device 11 with an amplifier 12 is input in parallel to the output circuit 13, and the rotation speed of the rotating body is input from the output side. It also reads the rotation angle within one rotation.

Effects of the invention: The life of the invention can be extended, and an economical and compact device can be obtained.

Further, according to the present invention, the number of revolutions is counted by a circuit powered by a battery separate from the NC power supply, so that
C Even when the power is not turned on, the rotation speed can be properly monitored and stored in the counter, and the rotation angle detection device within one rotation is activated at the same time as the NC power is turned on. An advantageous stroke absolute type rotation speed and rotation angle detection device within one rotation can be obtained.

Although a magnetic sensor is exemplified here as a rotation detection sensor, it can be operated in the same way using an LED, a light receiving element, a ferrite, and a coil.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the configuration of a pulse encoder according to the present invention, and FIG. 2 is a specific example of a circuit that uses a rotation detection sensor to generate a signal corresponding to the rotation of a rotating body. 3 is a circuit diagram showing a specific example of the counter circuit in the device shown in FIG. 1, FIG. 4 is a diagram showing an example of the code plate in the device shown in FIG. 1, and FIG. FIG. 2 is a circuit diagram illustrating an example of a connection relationship between a rotation angle detection device, a counter circuit, and an output circuit that inputs these output signals in parallel in the apparatus. (Explanation of symbols) 1... Rotating body, 2... Permanent magnet, 3, 4... Rotation detection sensor, 5, 6... Magnifier, 7... Counter circuit, 8...・Battery, lO...Code board, 11...
Rotation angle detection device, 12... amplifier, 13... output circuit. Patent applicant FANUC Co., Ltd. Patent application agent Akira Aoki Patent attorney Kazuyuki Nishidate Patent attorney Kenzo Hiraiwa Patent attorney Akira Yamaguchi Masaya Nishiyama

Claims (1)

[Claims] 1. Two rotation detection sensors that face the rotating body and generate signals corresponding to rotation at two different predetermined positions, and perform pulse logic processing on the output signals from the sensors to determine the rotational speed of the rotating body. A counter circuit consisting of an integrated circuit using complementary MO8 field effect transistors that counts up and down depending on the rotation direction of the sensor, the counter circuit having a sampling signal generation circuit for sampling the sensor, and a power supply to the integrated circuit. a battery, a rotation angle detection device within one rotation consisting of a code plate that rotates with the rotating body and a detection device opposite thereto, and an output circuit that receives the outputs of the counter circuit and the rotation angle detection device in parallel. A somewhat luth encoder for detecting the rotation of a rotating body.