JPS6148717A - Encoder device - Google Patents

Abstract

PURPOSE:To detect the angle of rotation of a rotating shaft which is displaced angularly during a power failure with high accuracy when the power source recovers by providing an angle detecting means and a rotational frequency detecting means for the rotating shaft, a memory for a signal corresponding to the rotational frequency, and a battery for the power failure. CONSTITUTION:When a commercial AC power source 31 enters a power failure, a rotating direction deciding circuit 16 and an up/down counter 8 are inactivated and a light emitting element stops emitting light. A rotating direction deciding circuit 28 and an up/down counter 29 are powered on by the battery 30 even during the power failure. Therefore, if the rotational frequency detecting means 19 is displaced angularly and reed switches 22 and 23 change in switching mode owing to the magnetic field established by a permanent magnet 21, the rotating direction in the state is discriminated by the rotating direction discrmination circuit 28 and the counted value the up/down counter 29 is varied and stored. Therefore, even if the motor 1 is turned off owing to the power failure of the AC power source 31 to displace a working end 6 angularly by gravitation and the rotating shaft 2 is displaced angularly, the rotational frequency of the rotating shaft 2 is detected all the time by the rotational frequency detecting means 19, rotating direction discrimination circuit 28, and counter 29.

Description

DETAILED DESCRIPTION OF THE INVENTION The industrial application field of the invention is, for example, in a so-called electric robot whose working end is driven by a drive source, the total number of rotations and the rotation angle within 360° of the working end are detected. The present invention relates to an encoder device suitably implemented for the purpose of the present invention.

Background technology P, in conventional existing technology, the power from the rotating shaft of the motor is reduced by a speed reducer and transmitted to the working end, and in order to detect the rotation angle of this working end, the working end is connected to the output shaft of the motor. Another detection reducer having the same reduction ratio as the Nodame reducer is provided, and i? The rotation angle of the deceleration output shaft of the detection reducer described in j is detected by a bodensiometer, and from this the absolute value of the approximate rotation angle of the working end can be determined.The output shaft of the negative motor is equipped with a so-called incremental encoder. The rotation angle of the output shaft within 360° can be detected with high precision.

Problems to be Solved by the Invention The existing technologies as described above require a detection reduction gear, which increases the size of the encoder device, and also causes measurement errors due to puncture rush of the detection reduction gear. In addition, the incremental encoder has a structure in which a light emitting element and a light receiving element are installed on both sides of a rotating member attached to a rotating shaft to detect a transparent part or a light blocking part formed on the rotating member. If such an incremental encoder is to be operated with 7 < power consumption, the power consumption of the incremental encoder is large, so the capacitance of the power supply must be large, and the power supply associated with the encoder will become large.

Therefore, an object of the present invention is to provide an encoder device that can detect rotation angles with high precision without increasing the size of the entire device.

Another object of the present invention is to provide an encoder device that can detect with high precision the rotation angle of a rotating shaft that has changed angles during a power outage when the power is restored.

Means for Solving the Problems The present invention relates to a rotating plate member which is attached to a rotating shaft and in which light transmitting portions and light shielding portions are alternately and repeatedly formed in the radial direction over the entire circumference, and the above rotating plate member. a light emitting element disposed on one side in the axial direction of the rotating shaft and emitting light towards the light transmitting portion and the light blocking portion; and a light emitting element disposed on the other side in the axial direction of the rotating shaft with respect to the rotating plate member; A light-receiving element that receives light from the element through a transparent part, and an I! that counts the output of the light-receiving element and detects the rotation angle of the rotation axis. ! a rotation angle detection means; a rotation speed detection means for deriving the rotation speed of the rotating shaft as an electrical signal with 0 or extremely small power consumption per rotation; and a rotation speed detected by the rotation speed detection means. This encoder device includes a memory that stores an electrical signal corresponding to the rotational speed of a shaft, and a battery means that energizes the rotational speed detection means and the memory even during a power outage.

According to the present invention, the rotation angle can be detected with high precision without requiring a deceleration plate for detection and without increasing the size of the encoder device. Furthermore, according to the present invention, only the rotation speed detection means and the memory that stores the output electric signal of the rotation speed detection means are powered by the battery during a power outage, so that the incremental encoder, which consumes a large amount of power, is powered by the battery. The rotation angle can be detected with high precision during a power outage and when the power is restored without increasing the size of the encoder-related power supply.

Embodiment FIG. 1 is a block diagram of an electric robot equipped with an encoder device according to the present invention. In this electric robot, the rotating shaft 2 of the motor 1 is decelerated by a reducer 3 including gears 4a and 4b, and the output shaft 5 The working end 6 is a rotating member. The rotary shaft 2 of the motor 1 is provided with an incremental encoder 7 serving as rotation angle detection means.

FIG. 2 is a perspective view of the incremental encoder 7. The incremental encoder 7 includes a rotating plate member 8 attached to the rotating shaft 2, and a rotating plate member 8 mounted on the rotating shaft 2.
One side of the rotating shaft 2 in the axial direction (left side in Figure 2)
and a light-receiving element 10.11 provided on the other side of the rotary shaft 2 in the axis support direction (on the right side in FIG. 2) with respect to the rotating plate member 8. The rotating plate member 8 is made of a light-shielding member such as metal, and has a first track 12 and a second trunk 13, which are disposed offset in the radial direction. The first track 12 has detection holes 14 formed at equal intervals over the entire circumference of the rotating plate member 8. Second
The trunk 13 also extends around the entire circumference of the rotating plate member 8.
It has detection holes 15 formed at equal intervals. The detection through-hole 14 of the first trunk 12 and the detection through-hole 15 of the second trunk 13 are out of phase by 90 degrees in electrical angle in the circumferential direction of the rotating plate member 8.

Light passing from the light emitting element 9 through the detection through hole 14 is detected by the light receiving element 10. From the light emitting element 9 to the detection hole 1
The light passing through 5 is detected by a light receiving probe 11 . Referring also to FIG. 1, the output from the light receiving element 10.11 is input to the rotational direction discrimination circuit 16 via lines 11 and 12. Line 11. from light receiving element 10.11. l! The @ waveform derived in 2 is as shown in FIG. 3 il+ and FIG. They have a phase difference of 90°. The rotational direction discrimination circuit 16 is configured such that the rotational plate member 8 is rotated in the direction of the arrow 17 (
2), the pulse shown in FIG. 3 (3) corresponding to the output from the light receiver 10.11 is delivered in line 13. The output of line 14 is the rotating plate member 8
becomes high level when it rotates in the direction of arrow 17, and at this time line I! The output of No. 5 is low level. When the rotating plate member 8 rotates in the opposite direction to the direction of the arrow 17, the output of the line 14 is at a low level, and the output of the line A'5
output becomes high level. ampda kunkakunku 18
The pulse of FIG. 3 (3) via line 13 is line! ! When 4 is high level, add it and count the amps,
When line 15 is at a high level, it is subtracted and dakunkakunt is performed.

The output of Upgukunkakunta 18 is line I! 6VC is derived and line 14 is at a high level, Figure 3 (4
) is derived. ampugukunkakunta 1
8 is mounted on the rotating shaft 2, and resets the count value detected from the line 16 every time the rotating plate member 8 rotates once. Thus, by the rotation angle I representing the rotation angle of the rotation l1lltI2 from the line 16, 3600 of the rotation axis 2 is
It is possible to detect rotation angles within a certain range with high precision. Upgukunkakunta 18 is reset by a reset signal from line 714 so that the count value becomes zero.

A rotation speed detection means 19 is provided in relation to the rotation shaft 2.

FIG. 4 is a perspective view of the rotation speed detection means 19, and FIG. 5 is a side view thereof. The rotation speed detection means 19 has a rotation plate member 20 fixed to the rotation shaft 2.

The rotating plate member 20 is made of a non-magnetic material such as metal or synthetic resin. A permanent magnet piece 21 is attached to one surface of the rotating plate member 20. Due to the magnetic field of the permanent magnet piece 21, the switching expansion of the reed switches 22 and 23 arranged at intervals in the circumferential direction of the rotating plate member 20 changes. The reed switch 22 has a pair of electrodes 25 and 26 provided in a space inside a sealing body 24 made of glass or the like.
The switching behavior of the electrodes 25 and 26 changes depending on the magnetic field of the permanent magnet piece 21.・Reed switch 23
has the same configuration as the reed switch 22. The reed switches 22 and 23 derive electrical signals having a phase difference in the circumferential direction of the rotating plate member 20.

When the rotary shaft 2 rotates in the direction of the arrow 17, the signals shown in FIG. 3(6) and FIG. 28. Rotation direction discrimination circuit 28
When the rotating plate member 20 rotates in the direction of the arrow 17 based on the phase difference from the reed switches 22 and 23, a high level signal is derived to the line 110, and at this time the line 1llll'10- level. . Rotation direction discrimination circuit 28
is the line when the rotating plate member 20 rotates in the opposite direction of the arrow 17! ! A low level signal is derived from line l! 11 to derive a high level signal. The rotational direction discrimination circuit 28 selects the line l! 9 reed switch 22.2
Based on the output from 3, a signal having the waveform shown in FIG. 3 (7) is derived. The signal from line 19 is also on line l
14 to the upgrade signal 18 as a reset signal.

Line 19~I! The signals from 11 are communicated to upgukunkakunta 29. This updakunkakunku 29
Ha, line I! When the signal from lo is high level, the pulse on line 19 is added to count the amplifier, and the signal from line l! When 11 is high level, line t! Subtract the pulse number 9 and make a quick sound.

The pulses obtained from the reed switches 22, 23 via the lines 17, 18 and the pulses obtained from the line 19 are obtained every rotation of the rotary shaft 2 and the rotating plate member 2001, and therefore the count value of the ampgukkunkakunta 29 is FIG. 3 shows the number of revolutions of the shaft 2, and the count signal derived to the line J12 of the amplifier 29 when the rotary shaft 2 and the rotating plate part 20 rotate once in the direction of the arrow 17. It has a waveform shown in (8).

Rotation direction discrimination circuit 28 and amplifier dakunta 29
is realized by a semiconductor circuit, and therefore has low power consumption. The rotational direction discrimination circuit 28 and the updakunkakuta 29 are powered by a battery 30.

The rotational direction discrimination circuit 16, the amplifier 18, and the light emitting element 9 and the light receiving element 10.11 of the incremental encoder 7 are energized by the power of the power supply circuit 32 that transforms and rectifies the power from the music AC power supply 31. . The rotational direction discrimination circuit 16 and the amplifier 18 can be realized by a semiconductor circuit. The light emitting element 9 is always energized to emit light when detecting the rotation angle, and is realized by, for example, a light emitting diode, and its power consumption is relatively large.

The rotation angle signal shown in FIG.
The rotation speed signal shown in FIG.
t: is given, whereby a signal indicated by +97 in FIG. 3 representing the total rotation angle of the rotation axis 2 is derived from the line l13. When the music AC power supply 31 is out of power, the rotation direction discrimination circuit 16 and the amplifier 18 are disabled, and the light emitting element 9 stops emitting light. The rotation direction discrimination circuit 28 and the amplifier 29 are connected to the battery 3.
Due to this, the power remains energized even during a power outage. Therefore, when the rotational speed detection means 19 is in the angular position and the switching mode of the reed switches 22 and 23 is changed by the magnetic field of the permanent magnetic filter piece 21, the rotational direction is discriminated by the rotational direction discrimination circuit 28, and the The count value of Gukunkakunta 29 is reduced and stored. Therefore, even if the motor 1 is deenergized due to a power outage of the tortoise source 31 and the working end 6 is angularly displaced due to its gravity etc., and the rotating shaft 2 is accordingly angularly displaced, the rotational speed detection means 19
, rotational direction discrimination circuit 28 and upgukkunkakunta 2
9, the number of revolutions of rotation lII[lI2 is constantly detected.

After the power is restored, the motor 1, the rotation speed discrimination circuit 16, and the amplifier 18 are energized by the power from the power supply circuit 32. The arithmetic circuit 33 is also energized. The rotary shaft 2 is rotated by the motor 1, and the reed switches 22, 23 and 3 (5) and 3 (6)
When the pulses indicated by , respectively, are obtained, by resetting the count 1 of the amplifier 18 to zero as shown in FIG. can be measured with high precision.

As another embodiment of the present invention, in order to simplify the configuration of the above-mentioned incremental encoder 7 and rotation speed detecting means 19, a first trunk 12 is provided at the rotation circle and member 8 of the incremental encoder 7 as shown in FIG. The rotational speed detection means 19 may also include a water-immersed magnet piece 21 fixed at a position radially shifted from the second track 13.

The payment structure 11ffi is similar to the above-mentioned embodiment, and corresponding parts are indicated by reference signs.

Although the above embodiment is configured to detect the rotational speed of the rotating plate using a reed switch, it is also possible to use a magnetic sensor such as a Hall element instead of the reed switch in another embodiment of the present invention. good.

In another embodiment, a protrusion is formed instead of a permanent magnet, and a 1 q micro inch equipped with an actuator that contacts the protrusion is provided at a fixed position, and the actuator is caused to move in a circle along the movement path of the protrusion according to the rotation of the rotary plate. They may be configured to be arranged at intervals in the circumferential direction.

Effects As described above, according to the present invention, it is possible to detect the rotation angle with high precision without increasing the size of the capture. Furthermore, the rotation angle of the rotating shaft that is angularly displaced during a power outage can be detected with high precision even after power is restored.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of one embodiment of the present invention, FIG. 2 is a perspective view of an incremental encoder, and a perspective view of another embodiment of a third rotary encoder. 2... Rotation axis, 7... Incremental encoder, 9... Light emitting element, 10.11... Light receiving element, 16
．． 28...Rotation direction discrimination circuit, 18.29...Upgukunkakunta, 30...Battery agent Patent attorney Kei Nishi Part 2 Figure 3 Figure 4 Figure 6 Procedure amendment book 1982 Patent Application No. 59-170761 dated October 17th, Name of Invention Encoding Device 3, Relationship with the Amendment Case Applicant Address Name (097) Kawasaki Heavy Industries Co., Ltd. Representative 4, Agent Address Yotsuhon, Nishi-ku, Osaka City 11ff 1-chome 13-38
new! )lLg, Building Country Equipment EX 0525-5985
1NTAPT J International FAX G■ & GII (06
) 538-02476, Detailed explanation of the invention column 7 of the amended month-end specification, Contents of the amendment (1), Book III 0'S, page 2, line 9) [
``The total number of rotations of the working end'' is corrected to ``Total number of rotations of the electric axle j''. (2) In the specification, page 14, line 14 to line 19, line 1, the phrase ``Other embodiments may be used.'' is deleted. Above procedural amendments Patent Application No. 59-1707 (il 2, title of invention encoding device 3, person making the amendment) (relationship with cows) Applicant Address Name (097) Kawasaki Heavy Industries Co., Ltd. Representative 4, Agent Address Shinko J, 1-13 Nishihonmachi, Nishi-ku, Osaka
'I: Building International Equipment EX 0525-5985 IN
TAPT J International FAX GIII & GII (OG
) 538-02476, Part 7 of the Requested Explanation of the Amendment, Contents of the Amendment (1) The scope of the claims is as attached. (2) Page 9 of the specification, lines 15 to 17, are corrected as follows. record Due to the change in the switching mode of the reed switches 22 and 23, after extremely small power consumption, the electric ':A signal with a phase difference in the circumferential direction of the rotating plate member 20 is generated as shown in FIG. 3 (1) and They are derived as shown in FIG. 3(2). (3) Add the following sentence between the 14th and 19th lines of specification 8 and the opening of the 20th line. The battery 30 may be a single battery or a secondary battery. When the battery 30 is a secondary battery, the battery 30 may be floating-charged using DC power obtained by passing four second-current power. Further, in accordance with the present invention, in place of the above-mentioned reed switches 22 and 23, by changing the magnetic field of the permanent magnet piece 21 attached to the rotation circle Fj and the section 20,
A means for generating an induced electromotive force may also be used. Such an induced electromotive force generating means does not consume any power and is convenient. Such an induced electromotive force generating means includes, for example, a rod-shaped ferromagnetic material whose magnetization strength changes suddenly depending on the increase or decrease of the external magnetic field due to the proximity of the permanent magnet piece 21 described above, and a wire wound around this ferromagnetic material. and a detection coil that generates an impulse-like induced electromotive force by a sudden change in the strength of magnetization. It is attached to the circumferential rotation Iit shaft of the above-mentioned wait time 1 request, and extends in the radial direction (this 3 hours) over the entire circumference.
a rotating plate member in which light portions and light blocking portions are alternately and repeatedly formed; a light-emitting element that emits light toward the rotational plate member; a light-receiving element that is disposed on the side of the rotation axis in the axial direction of the rotating shaft and receives light from the light-emitting element through a transparent portion; Oral angle detection means that counts the output of and detects the rotation angle of the rotating shaft based on the output; A rotation speed detection means that outputs 4 as an electric signal after the i yen cost power, and counts and stores the electric number corresponding to the rotation speed of the village 1, the rotation speed V derived by the rotation speed detector ts. An encoding device comprising a counting circuit and a battery means that powers the counting circuit and also powers the rotation speed detecting means even in the event of a power outage.

Claims (1)

[Scope of Claims] A rotating disk member attached to a rotating shaft and having light-transmitting portions and light-blocking portions alternately and repeatedly formed in the radial direction over the entire circumference; and an axis of the rotating shaft with respect to the rotating disk member. a light emitting element disposed on one side in the direction of the light transmitting portion and the light shielding portion, and a light emitting element disposed on the other side in the axial direction of the rotating shaft with respect to the rotating plate member, transmitting light from the light emitting element. a light-receiving element that receives light passing through the part; a rotation angle detection means that counts the output of the light-receiving element and thereby detects the rotation angle of the rotation shaft; A rotation speed detection means for deriving an electric signal with extremely low power consumption; a memory for storing an electric signal corresponding to the rotation speed of a rotating shaft derived by the rotation speed detection means; An encoder device also comprising battery means for energizing the rotation speed detecting means and the memory.