JPWO2019216327A1 - Encoder and its assembly method, drive device, and vehicle steering device - Google Patents

Encoder and its assembly method, drive device, and vehicle steering device Download PDF

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JPWO2019216327A1
JPWO2019216327A1 JP2020518308A JP2020518308A JPWO2019216327A1 JP WO2019216327 A1 JPWO2019216327 A1 JP WO2019216327A1 JP 2020518308 A JP2020518308 A JP 2020518308A JP 2020518308 A JP2020518308 A JP 2020518308A JP WO2019216327 A1 JPWO2019216327 A1 JP WO2019216327A1
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rotating body
pattern
shaft
rotation
detection
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JP7332986B2 (en
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宏 東海林
宏 東海林
昭宏 渡邉
昭宏 渡邉
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Nikon Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING 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
    • G01D5/00—Mechanical 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
    • G01D5/12—Mechanical 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 using electric or magnetic means
    • G01D5/244—Mechanical 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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical 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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING 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
    • G01D5/00—Mechanical 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
    • G01D5/26—Mechanical 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
    • G01D5/32—Mechanical 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
    • G01D5/34—Mechanical 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
    • G01D5/347—Mechanical 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

Abstract

回転軸に取り付けられて、前記回転軸の回転情報を検出するためのパターンが形成された回転体と、前記回転体の前記パターンを検出する検出部と、前記検出部の検出結果に基づいて、前記回転軸の前記回転情報を求める演算部と、を備えるエンコーダであって、前記回転体は、前記回転軸の回転方向に沿って、それぞれ前記パターンの一部が形成された複数のパーツ部に分割されているものである。一端部に操作部が設けられ、他端部がモータに連結されたような回転軸を有する駆動部のその回転軸に対し、エンコーダを取り付けたり、又は取り外したりすることができる。Based on the rotating body attached to the rotating shaft and forming a pattern for detecting the rotation information of the rotating shaft, the detecting unit for detecting the pattern of the rotating body, and the detection result of the detecting unit. An encoder including a calculation unit for obtaining the rotation information of the rotation axis, and the rotating body is formed in a plurality of parts parts in which a part of the pattern is formed along the rotation direction of the rotation axis. It is divided. An encoder can be attached to or detached from the rotating shaft of a drive unit having a rotating shaft such that an operating portion is provided at one end and the other end is connected to a motor.

Description

本発明は、エンコーダ、エンコーダの組立方法、エンコーダを備えた駆動装置、及びエンコーダを備えた車両用操舵装置に関する。 The present invention relates to an encoder, an encoder assembly method, a drive device including the encoder, and a vehicle steering device including the encoder.

産業用ロボット及び工作機械等の駆動部に用いられるモータの回転角の制御を高精度に行うためにエンコーダ（例えば、ロータリーエンコーダ）が使用される。エンコーダは、モータの回転軸に取り付けられて所定のパターンが形成された輪帯状の信号板と、そのパターンを検出する検出部とを有する。
信号板は、回転軸の軸方向から挿入された後、回転軸に固定され、検出部は、回転軸を回転可能に支持する支持部材に取り付けられる（例えば、引用文献１参照）。An encoder (for example, a rotary encoder) is used to control the rotation angle of a motor used in a drive unit of an industrial robot, a machine tool, or the like with high accuracy. The encoder has an annular signal plate attached to the rotating shaft of the motor to form a predetermined pattern, and a detection unit for detecting the pattern.
The signal plate is inserted from the axial direction of the rotating shaft, and then fixed to the rotating shaft, and the detection unit is attached to a support member that rotatably supports the rotating shaft (see, for example, Reference 1).

最近では、エンコーダはより様々な構造の駆動部に取り付けられるようになっている。例えば、一端部に操作部が設けられ、他端部が他のモータに連結された回転軸を有する駆動部に対し、エンコーダを取り付けたり、又は取り外したりすることが求められている。 Recently, encoders have been attached to drives of more various structures. For example, it is required to attach or remove an encoder to a drive unit having a rotation shaft whose one end is provided with an operation unit and whose other end is connected to another motor.

特開２０１０−１５６５６３号公報JP-A-2010-156563

本発明の第１の態様によれば、回転軸に取り付けられて、その回転軸の回転情報を検出するためのパターンが形成された回転体と、その回転体のパターンを検出する検出部と、その検出部の検出結果に基づいて、その回転軸の回転情報を求める演算部と、を備えるエンコーダであって、その回転体は、その回転軸の回転方向に沿って、それぞれそのパターンの一部が形成された複数のパーツ部に分割されているエンコーダが提供される。 According to the first aspect of the present invention, a rotating body attached to a rotating shaft and formed with a pattern for detecting rotation information of the rotating shaft, a detecting unit for detecting the pattern of the rotating body, and a detection unit. An encoder including a calculation unit that obtains rotation information of the rotation axis based on the detection result of the detection unit, and the rotating body is a part of the pattern along the rotation direction of the rotation axis. An encoder is provided which is divided into a plurality of parts in which the above is formed.

第２の態様によれば、第１の態様のエンコーダと、その回転軸の回転角を制御する回転角制御部と、そのエンコーダの検出結果を用いてその回転角制御部を制御する制御部とを備える駆動装置が提供される。
第３の態様によれば、第１の態様のエンコーダの組立方法であって、複数のそのパーツ部及びその検出部を準備することと、その回転軸にその回転軸の側面方向側から複数のそのパーツ部を取り付けることと、複数のそのパーツ部とその検出部とを位置決めすることと、その回転軸を回転可能に支持する支持部にその検出部を取り付けることと、を含むエンコーダの組立方法が提供される。
第４の態様によれば、回転軸と、その回転軸の一端部に設けられた操作部と、その回転軸の他端部側に連結されたアクチュエータと、そのアクチュエータによって駆動される１対の駆動輪と、その回転軸の回転情報を検出するための第１の態様のエンコーダと、そのエンコーダの検出結果に基づいてそのアクチュエータの動作を制御する制御装置と、を備える車両用操舵装置が提供される。According to the second aspect, the encoder of the first aspect, the rotation angle control unit that controls the rotation angle of the rotation axis, and the control unit that controls the rotation angle control unit using the detection result of the encoder. A drive device comprising the above is provided.
According to the third aspect, it is the method of assembling the encoder of the first aspect, in which a plurality of parts thereof and a detection unit thereof are prepared, and a plurality of parts thereof and a detection unit thereof are provided on the rotation shaft from the side surface direction side of the rotation shaft. A method for assembling an encoder including mounting the parts, positioning a plurality of the parts and the detection parts, and mounting the detection parts on a support portion that rotatably supports the rotation axis. Is provided.
According to the fourth aspect, a rotating shaft, an operation unit provided at one end of the rotating shaft, an actuator connected to the other end side of the rotating shaft, and a pair driven by the actuator. Provided is a vehicle steering device including a drive wheel, an encoder of the first aspect for detecting rotation information of the rotation shaft thereof, and a control device for controlling the operation of the actuator based on the detection result of the encoder. Will be done.

本発明の第１の実施形態に係る駆動装置を示す図である。It is a figure which shows the drive device which concerns on 1st Embodiment of this invention. （Ａ）は図１中のエンコーダ部の回転体及び受発光部を示す平面図、（Ｂ）は図２（Ａ）の回転体の裏面を示す図、（Ｃ）はエンコーダ部の構成を示す図である。(A) is a plan view showing a rotating body and a light emitting / receiving part of the encoder unit in FIG. 1, (B) is a view showing the back surface of the rotating body of FIG. 2 (A), and (C) shows a configuration of the encoder unit. It is a figure. （Ａ）は回転体を示す分解斜視図、（Ｂ）はシャフトに形成される位置決め用の種々の凹部を示す図である。(A) is an exploded perspective view showing a rotating body, and (B) is a view showing various recesses for positioning formed on the shaft. （Ａ）は回転体の境界部を示す側面図、（Ｂ）は図４（Ａ）の領域Ａを示す拡大図、（Ｃ）は図４（Ａ）の領域Ａの別の例を示す拡大図、（Ｄ）は図４（Ａ）の領域Ａのさらに別の例を示す拡大図である。(A) is a side view showing the boundary portion of the rotating body, (B) is an enlarged view showing the area A of FIG. 4 (A), and (C) is an enlarged view showing another example of the area A of FIG. 4 (A). FIG. 3D is an enlarged view showing still another example of the region A of FIG. 4A. エンコーダ部の組立方法の一例を示すフローチャートである。It is a flowchart which shows an example of the assembly method of an encoder part. （Ａ）は一体型の回転体の原型を示す斜視図、（Ｂ）はシャフトに第１の部分回転体を取り付けた状態を示す一部を切り欠いた平面図、（Ｃ）はシャフトに第１及び第２の部分回転体を取り付けた状態を示す平面図、（Ｄ）は第１及び第２部分回転体の境界部を示す側面図、（Ｅ）、（Ｆ）、（Ｇ）はそれぞれ第１及び第２部分回転体の境界部の別の例を示す側面図である。(A) is a perspective view showing the prototype of the integrated rotating body, (B) is a plan view showing a state where the first partial rotating body is attached to the shaft, and (C) is a plan view with a part cut out. A plan view showing a state in which the first and second partial rotating bodies are attached, (D) is a side view showing a boundary portion between the first and second partial rotating bodies, and (E), (F), and (G) are respectively. It is a side view which shows another example of the boundary part of the 1st and 2nd partial rotating bodies. （Ａ）は回転体及び受発光部を示す平面図、（Ｂ）及び（Ｃ）は２つの受発光部から出力される検出信号の一例を示す図である。(A) is a plan view showing a rotating body and a light emitting / receiving unit, and (B) and (C) are views showing an example of detection signals output from the two light emitting / receiving units. （Ａ）は第１の実施形態の変形例に係る回転体及び受発光部を示す平面図、（Ｂ）は図８（Ａ）の側面図である。(A) is a plan view showing a rotating body and a light emitting / receiving unit according to a modified example of the first embodiment, and (B) is a side view of FIG. 8 (A). （Ａ）は第２の実施形態に係るエンコーダ部の回転体及び受発光部を示す平面図、（Ｂ）は図９（Ａ）の側面図である。(A) is a plan view showing a rotating body and a light emitting / receiving unit of the encoder unit according to the second embodiment, and (B) is a side view of FIG. 9 (A). （Ａ）は変形例に係る回転体及び受発光部を示す平面図、（Ｂ）は図１０（Ａ）の側面図である。(A) is a plan view showing a rotating body and a light emitting / receiving unit according to a modified example, and (B) is a side view of FIG. 10 (A). （Ａ）は図９（Ａ）の回転体を示す分解斜視図、（Ｂ）はシャフトに第１の部分回転体を取り付けた状態を示す斜視図、（Ｃ）はシャフトに回転体を取り付けた状態を示す斜視図、（Ｄ）は組立用工具を分解した状態を示す斜視図である。(A) is an exploded perspective view showing the rotating body of FIG. 9 (A), (B) is a perspective view showing a state where the first partial rotating body is attached to the shaft, and (C) is a rotating body attached to the shaft. A perspective view showing a state, (D) is a perspective view showing a state in which the assembly tool is disassembled. エンコーダ部の組立方法の他の例を示すフローチャートである。It is a flowchart which shows another example of the assembly method of the encoder part. （Ａ）はシャフトに回転体及び組立用工具を取り付けた状態を示す斜視図、（Ｂ）は基板を位置決めした状態における図１３（Ａ）の側面図である。(A) is a perspective view showing a state in which a rotating body and an assembly tool are attached to a shaft, and (B) is a side view of FIG. 13 (A) in a state where a substrate is positioned.

以下、第１の実施形態につき図１から図７を参照して説明する。
図１は、本実施形態に係る駆動装置１０の概略構成を示す。一例として、駆動装置１０は車両用操舵装置（又は車両用操舵システム）８に使用されている。図１において、駆動装置１０は、円筒状のシャフト１８と、シャフト１８の一端部に設けられたステアリングホイール１４と、シャフト１８の他端部側に設けられたアクチュエータ１６と、シャフト１８の回転角を含む回転情報を検出するエンコーダ部１２と、エンコーダ部１２の検出結果に基づいてアクチュエータ１６等の動作を制御する制御装置２８とを備えている。アクチュエータ１６は、ドライバー（不図示）がステアリングホイール１４を介してシャフト１８を回転したときに、ドライバーに回転角に応じた反力（いわゆる操舵反力）を与えるためのモータである。Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 7.
FIG. 1 shows a schematic configuration of a drive device 10 according to this embodiment. As an example, the drive device 10 is used in a vehicle steering device (or vehicle steering system) 8. In FIG. 1, the drive device 10 includes a cylindrical shaft 18, a steering wheel 14 provided at one end of the shaft 18, an actuator 16 provided at the other end of the shaft 18, and a rotation angle of the shaft 18. It includes an encoder unit 12 that detects rotation information including the above, and a control device 28 that controls the operation of the actuator 16 and the like based on the detection result of the encoder unit 12. The actuator 16 is a motor for applying a reaction force (so-called steering reaction force) according to the rotation angle to the driver when the driver (not shown) rotates the shaft 18 via the steering wheel 14.

車両用操舵装置８は、駆動装置１０と、シャフト１８にクラッチ２０を介して連結された連結軸２２と、１対の駆動輪（転舵輪）２６Ａ，２６Ｂと、制御装置２８の制御のもとで駆動輪２６Ａ，２６Ｂの進行方向を制御する転舵アクチュエータ２４とを備えている。シャフト１８は車両本体部（不図示）に回転可能に支持されている。なお、車両用操舵装置８において、クラッチ２０及び連結軸２２を省略してもよい。さらに、アクチュエータ１６の代わりに差動角制御装置を使用し、転舵アクチュエータ２４の代わりにパワーステアリングを使用してもよい。この場合、差動角制御装置が、ステアリングホイール１４（シャフト１８）の回転角と駆動輪２６Ａ，２６Ｂの進行方向との差動角に応じてパワーステアリングを介して駆動輪２６Ａ，２６Ｂの進行方向を制御してもよい。車両用操舵装置８と、モータ又はエンジンに連結された１対の駆動輪（不図示）と、車両本体部（不図示）と、ブレーキ装置（不図示）と、アクセル（不図示）等とを含んで車両が構成できる。 The vehicle steering device 8 is under the control of the drive device 10, the connecting shaft 22 connected to the shaft 18 via the clutch 20, the pair of drive wheels (steering wheels) 26A and 26B, and the control device 28. It is equipped with a steering actuator 24 that controls the traveling directions of the drive wheels 26A and 26B. The shaft 18 is rotatably supported by a vehicle body (not shown). In the vehicle steering device 8, the clutch 20 and the connecting shaft 22 may be omitted. Further, the differential angle control device may be used instead of the actuator 16, and the power steering may be used instead of the steering actuator 24. In this case, the differential angle control device advances the driving wheels 26A and 26B via the power steering according to the differential angle between the rotation angle of the steering wheel 14 (shaft 18) and the traveling direction of the driving wheels 26A and 26B. May be controlled. A vehicle steering device 8, a pair of drive wheels (not shown) connected to a motor or an engine, a vehicle body (not shown), a brake device (not shown), an accelerator (not shown), and the like. The vehicle can be configured including it.

本実施形態に係るエンコーダ部１２は、シャフト１８の側面に装着された円筒状で、例えばステアリングホイール１４側の表面に回転角を検出するためのパターンが形成された回転体３２を備えており、回転体３２はシャフト１８と一体的に回転する。また、エンコーダ部１２は、回転体３２のパターンを検出するための光電センサとしての第１及び第２の受発光部３６Ａ，３６Ｂと、受発光部３６Ａが設けられた基板３８Ａと、受発光部３６Ｂが設けられた基板３８Ｂと、受発光部３６Ａ，３６Ｂからの検出信号を処理して回転体３２（ひいてはシャフト１８）の回転情報を求める処理装置４０とを備えている。回転体３２は、そのパターンが形成された輪帯状のスケール部３２ｂと、スケール部３２ｂのアクチュエータ１６側の面に設けられたスケール部３２ｂよりも外径の小さい円筒状のハブ部３２ｃとを一体的に連結したほぼ軸対称の形状である。なお、円筒状のハブ部３２ｃの外径は、スケール部３２ｂの外径と同じであってもよいし、スケール部３２ｂの外径より大きくてもよい。基板３８Ａ，３８Ｂは、車両本体部（不図示）に所定の連結部材（不図示）を介して支持されている。 The encoder unit 12 according to the present embodiment includes a rotating body 32 having a cylindrical shape mounted on the side surface of the shaft 18 and having a pattern formed on the surface on the steering wheel 14 side, for example, for detecting a rotation angle. The rotating body 32 rotates integrally with the shaft 18. Further, the encoder unit 12 includes first and second light emitting / receiving units 36A and 36B as photoelectric sensors for detecting the pattern of the rotating body 32, a substrate 38A provided with the light emitting / receiving unit 36A, and a light emitting / receiving unit. It includes a substrate 38B provided with 36B and a processing device 40 that processes detection signals from light emitting and receiving units 36A and 36B to obtain rotation information of the rotating body 32 (and thus the shaft 18). The rotating body 32 integrates a ring-shaped scale portion 32b on which the pattern is formed and a cylindrical hub portion 32c having an outer diameter smaller than that of the scale portion 32b provided on the surface of the scale portion 32b on the actuator 16 side. It is a shape that is almost axisymmetrically connected. The outer diameter of the cylindrical hub portion 32c may be the same as the outer diameter of the scale portion 32b, or may be larger than the outer diameter of the scale portion 32b. The substrates 38A and 38B are supported by a vehicle body (not shown) via a predetermined connecting member (not shown).

図２（Ａ）は図１中のエンコーダ部１２の回転体３２及び基板３８Ａ，３８Ｂを示す平面図、図２（Ｃ）はエンコーダ部１２の回転体３２、基板３８Ａ，３８Ｂ、及び処理装置４０を示す。図２（Ａ）において、シャフト１８は断面で表されている。また、回転体３２は、一例として、シャフト１８の中心軸ＡＸの回りの円周方向（周方向）又は回転方向（以下、θ方向ともいう。）に、等角度（ここでは１２０°）で実質的に同じ形状の３つのパーツ部（以下、部分回転体という）３２Ａ，３２Ｂ，３２Ｃを例えばボルトＢ１，Ｂ２，Ｂ３によって連結したものである。言い替えると、回転体３２は第１、第２、及び第３の３つの部分回転体３２Ａ〜３２Ｃに分割されている（分離可能である）。回転体はディスクともいうことができ、部分回転体３２Ａ〜３２Ｃは部分ディスク部ともいうことができる。なお、説明の便宜上、図２（Ｃ）等においては、ボルトＢ１，Ｂ３は、部分回転体３２Ａ，３２Ｃの連結部に対して斜めに配置されているが、実際には後述の図３（Ａ）に示すように、ボルトＢ１，Ｂ３は対応する連結部に対して垂直になるように配置されることが好ましい。部分回転体３２Ａ，３２Ｂの連結部を境界部３３Ａ、部分回転体３２Ｂ，３２Ｃの連結部を境界部３３Ｂ、部分回転体３２Ｃ，３２Ａの連結部を境界部３３Ｃという。なお、部分回転体３２Ａ〜３２Ｃの角度（中心軸ＡＸに関する開き角）は互いに同じである必要はなく、例えば数°〜数１０°の範囲で異なっていてもよい。このように、部分回転体３２Ａ〜３２Ｃの角度が、例えば数°〜数１０°の範囲で異なっている場合、当然ながら境界部３３Ａ〜３３Ｃの角度も数°〜数１０°の範囲で異なることになる。 FIG. 2A is a plan view showing the rotating body 32 and the substrates 38A and 38B of the encoder unit 12 in FIG. 1, and FIG. 2C is the rotating body 32 of the encoder unit 12, the substrates 38A and 38B, and the processing device 40. Is shown. In FIG. 2A, the shaft 18 is represented by a cross section. Further, as an example, the rotating body 32 is substantially equal in the circumferential direction (circumferential direction) or the rotational direction (hereinafter, also referred to as θ direction) around the central axis AX of the shaft 18 at an equal angle (120 ° here). Three parts (hereinafter referred to as partial rotating bodies) 32A, 32B, and 32C having the same shape are connected by, for example, bolts B1, B2, and B3. In other words, the rotating body 32 is divided into three partial rotating bodies 32A to 32C (separable). The rotating body can also be referred to as a disc, and the partial rotating bodies 32A to 32C can also be referred to as a partial disc portion. For convenience of explanation, in FIG. 2C and the like, the bolts B1 and B3 are arranged diagonally with respect to the connecting portion of the partial rotating bodies 32A and 32C, but in reality, they are actually arranged in FIG. 3 (A) described later. ), It is preferable that the bolts B1 and B3 are arranged so as to be perpendicular to the corresponding connecting portion. The connecting portion of the partial rotating bodies 32A and 32B is referred to as a boundary portion 33A, the connecting portion of the partial rotating bodies 32B and 32C is referred to as a boundary portion 33B, and the connecting portion of the partial rotating bodies 32C and 32A is referred to as a boundary portion 33C. The angles of the partial rotating bodies 32A to 32C (opening angles with respect to the central axis AX) do not have to be the same, and may be different, for example, in the range of several ° to several tens of °. In this way, when the angles of the partial rotating bodies 32A to 32C are different, for example, in the range of several ° to several tens of degrees, the angles of the boundary portions 33A to 33C are also different in the range of several degrees to several tens of degrees. become.

回転体３２の表面３２ａには、シャフト１８の中心軸ＡＸを中心とした同心円状のパターン領域に、インクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａがそれぞれ形成されている。インクリメンタルパターン３４Ｉは、例えば光を反射する部分（反射部）と光の反射量（反射率）が反射部よりも小さい部分（非反射部）とを所定の周期（ピッチ）で円周方向に形成したものである。インクリメンタルパターン３４Ｉからの反射光より得られる検出信号を内挿して積算することで、シャフト１８の回転角又は回転速度等の積算値を高精度に求めることができる。アブソリュートパターン３４Ａは、例えば光を反射する部分（反射部）と光の反射量（反射率）が反射部よりも小さい部分（非反射部）とを有し、回転体３２の１回転内の絶対角度（絶対位置）を示すパターンであり、アブソリュートパターン３４Ａからの反射光より得られる検出信号を用いて、シャフト１８の１回転内の絶対角度を求めることができる。その絶対角度及びインクリメンタルパターン３４Ｉから得られる回転角等の積算値を用いて、シャフト１８の絶対角度をより高精度に求めることができる。 On the surface 32a of the rotating body 32, an incremental pattern 34I and an absolute pattern 34A are formed in a concentric pattern region centered on the central axis AX of the shaft 18, respectively. In the incremental pattern 34I, for example, a portion that reflects light (reflecting portion) and a portion in which the amount of light reflected (reflectance) is smaller than the reflecting portion (non-reflective portion) are formed in the circumferential direction at a predetermined period (pitch). It was done. By interpolating and integrating the detection signal obtained from the reflected light from the incremental pattern 34I, the integrated value such as the rotation angle or the rotation speed of the shaft 18 can be obtained with high accuracy. The absolute pattern 34A has, for example, a portion that reflects light (reflecting portion) and a portion that reflects light (reflectance) smaller than the reflecting portion (non-reflecting portion), and is absolute within one rotation of the rotating body 32. It is a pattern showing an angle (absolute position), and the absolute angle within one rotation of the shaft 18 can be obtained by using the detection signal obtained from the reflected light from the absolute pattern 34A. The absolute angle of the shaft 18 can be obtained with higher accuracy by using the integrated value of the absolute angle and the rotation angle obtained from the incremental pattern 34I.

また、第１の受発光部３６Ａは、検出用の光をアブソリュートパターン３４Ａの検出領域３６ＡＡ及びインクリメンタルパターン３４Ｉの検出領域３６ＡＩに照射する発光素子３６Ａａと、検出領域３６ＡＡからの反射光を受光する受光素子３６Ａｂ及び検出領域３６ＡＩからの反射光を受光する受光素子３６Ａｃとを有する。さらに、第２の受発光部３６Ｂは、検出用の光をアブソリュートパターン３４Ａの検出領域３６ＢＡ及びインクリメンタルパターン３４Ｉの検出領域３６ＢＩに照射する発光素子３６Ｂａと、検出領域３６ＢＡからの反射光を受光する受光素子３６Ｂｂ及び検出領域３６ＢＩからの反射光を受光する受光素子３６Ｂｃとを有する。発光素子３６Ａａ，３６Ｂａは例えば発光ダイオード等であり、受光素子３６Ａｂ〜３６Ｂｃは例えばフォトダイオード等である。このように受発光部３６Ａ，３６Ｂは反射型であるが、回転体３２に透過型のパターンを設け、受発光部３６Ａ，３６Ｂを透過型の光センサとしてもよい。 Further, the first light receiving / receiving unit 36A receives the light emitting element 36Aa that irradiates the detection area 36AA of the absolute pattern 34A and the detection area 36AI of the incremental pattern 34I with the light for detection, and the light receiving light that receives the reflected light from the detection area 36AA. It has an element 36Ab and a light receiving element 36Ac that receives the reflected light from the detection region 36AI. Further, the second light receiving / receiving unit 36B receives the light receiving element 36Ba that irradiates the detection area 36BA of the absolute pattern 34A and the detection area 36BI of the incremental pattern 34I with the light for detection, and the light receiving light that receives the reflected light from the detection area 36BA. It has an element 36Bb and a light receiving element 36Bc that receives the reflected light from the detection region 36BI. The light emitting elements 36Aa and 36Ba are, for example, light emitting diodes, and the light receiving elements 36Ab to 36Bc are, for example, photodiodes and the like. Although the light emitting / receiving units 36A and 36B are of the reflection type as described above, a transmission type pattern may be provided on the rotating body 32, and the light emitting / receiving units 36A and 36B may be used as a transmission type optical sensor.

さらに、第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩと、第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩとは、それぞれ中心軸ＡＸに関して対称（点対称）な位置に配置されている。なお、第１の受発光部３６Ａの検出領域の位置，及び第２の受発光部３６Ｂの検出領域の位置はその対称な位置から数°程度離れた位置に配置されていてもよい。この場合、回転体３２の境界部３３Ａ〜３３Ｃは１２０°間隔で配置されているため、境界部３３Ａ〜３３Ｃのうちの任意の一つ（例えば境界部３３Ａ）が第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩ内に位置しているときには、他の境界部（例えば境界部３３Ｂ，３３Ｃ）は第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩから６０°程度離れた位置にある。逆に、第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩが境界部３３Ａ〜３３Ｃ上にあるときには、第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩは境界部３３Ａ〜３３Ｃから６０°程度離れた位置にある。このため、第１の受発光部３６Ａの検出結果と、第２の受発光部３６Ｂの検出結果とを切り替えることによって、常に境界部３３Ａ〜３３Ｃからずれた位置にあるインクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａからの反射光を受光でき、シャフト１８の回転情報を高精度に検出できる。 Further, the detection areas 36AA and 36AI of the first light receiving and emitting unit 36A and the detection areas 36BA and 36BI of the second light receiving and emitting unit 36B are arranged at positions symmetrical (point symmetric) with respect to the central axis AX, respectively. .. The position of the detection region of the first light receiving / receiving unit 36A and the position of the detection region of the second light receiving / emitting unit 36B may be arranged at positions separated from the symmetrical position by about several °. In this case, since the boundary portions 33A to 33C of the rotating body 32 are arranged at intervals of 120 °, any one of the boundary portions 33A to 33C (for example, the boundary portion 33A) is the first light receiving and receiving unit 36A. When located within the detection regions 36AA and 36AI, the other boundary portions (for example, the boundary portions 33B and 33C) are located about 60 ° away from the detection regions 36BA and 36BI of the second light receiving and receiving unit 36B. On the contrary, when the detection regions 36BA and 36BI of the second light receiving / receiving unit 36B are on the boundary portions 33A to 33C, the detection regions 36AA and 36AI of the first light receiving / receiving unit 36A are about 60 ° from the boundary portions 33A to 33C. It is in a distant position. Therefore, by switching between the detection result of the first light receiving / emitting unit 36A and the detection result of the second light receiving / emitting unit 36B, the incremental pattern 34I and the absolute pattern 34A are always located at positions deviated from the boundary portions 33A to 33C. It is possible to receive the reflected light from the shaft 18 and detect the rotation information of the shaft 18 with high accuracy.

図３（Ａ）は回転体３２を３つの部分回転体３２Ａ〜３２Ｃに分解（分離）した分解斜視図である。図３（Ａ）において、シャフト１８の中空部１８ａには、図１のステアリングホイール１４からアクチュエータ１６の設置部を介して制御装置２８に続く複数の配線（不図示）が配置されている。部分回転体３２Ａは、アブソリュートパターン３４Ａの一部のパターン３４Ａａ及びインクリメンタルパターン３４Ｉの一部のパターン３４Ｉａが形成された表面を持つ扇形のスケール部３２Ａｂと、スケール部３２Ａｂの表面と反対側の面に連結されたハブ部３２Ａｃとを有する。また、部分回転体３２Ｂは、アブソリュートパターン３４Ａの一部のパターン３４Ａｂ及びインクリメンタルパターン３４Ｉの一部のパターン３４Ｉｂが形成された表面を持つ扇形のスケール部３２Ｂｂと、スケール部３２Ｂｂの表面と反対側の面に連結されたハブ部３２Ｂｃとを有する。さらに、部分回転体３２Ｃは、アブソリュートパターン３４Ａの一部のパターン３４Ａｃ及びインクリメンタルパターン３４Ｉの一部のパターン３４Ｉｃが形成された表面を持つ扇形のスケール部３２Ｃｂと、スケール部３２Ｃｂの表面と反対側の面に連結されたハブ部３２Ｃｃとを有する。 FIG. 3A is an exploded perspective view of the rotating body 32 decomposed (separated) into three partial rotating bodies 32A to 32C. In FIG. 3A, a plurality of wirings (not shown) are arranged in the hollow portion 18a of the shaft 18 from the steering wheel 14 of FIG. 1 to the control device 28 via the installation portion of the actuator 16. The partial rotating body 32A is formed on a fan-shaped scale portion 32Ab having a surface on which a part of the pattern 34Aa of the absolute pattern 34A and a part of the pattern 34Ia of the incremental pattern 34I are formed, and on a surface opposite to the surface of the scale portion 32Ab. It has a hub portion 32Ac connected to it. Further, the partial rotating body 32B has a fan-shaped scale portion 32Bb having a surface on which a part of the absolute pattern 34A and a part of the incremental pattern 34I are formed, and a fan-shaped scale portion 32Bb on the opposite side of the surface of the scale portion 32Bb. It has a hub portion 32Bc connected to a surface. Further, the partial rotating body 32C has a fan-shaped scale portion 32Cb having a surface on which a part of the pattern 34Ac of the absolute pattern 34A and a part of the pattern 34Ic of the incremental pattern 34I are formed, and a side opposite to the surface of the scale portion 32Cb. It has a hub portion 32Cc connected to a surface.

なお、スケール部３２Ａｂ，３２Ｂｂ，３２Ｃｂとハブ部３２Ａｃ，３２Ｂｃ，３２Ｃｃとは、一体的に形成されていてもよい。ハブ部３２Ａｃ，３２Ｂｃ，３２Ｃｃは、一例としてスケール部３２Ａｂ，３２Ｂｂ，３２Ｃｂよりも半径が小さい扇形の断面形状を持ち、高さがスケール部３２Ａｂ，３２Ｂｂ，３２Ｃｂよりも高い形状である。また、以下では、中心軸ＡＸに対して半径方向（θ方向に直交する方向）におけるシャフト１８及び回転体３２等の側面（外面及び内面を含む）をそれぞれ周側面とも称する。 The scale portions 32Ab, 32Bb, 32Cb and the hub portions 32Ac, 32Bc, 32Cc may be integrally formed. As an example, the hub portions 32Ac, 32Bc, and 32Cc have a fan-shaped cross-sectional shape having a smaller radius than the scale portions 32Ab, 32Bb, and 32Cb, and have a height higher than that of the scale portions 32Ab, 32Bb, and 32Cb. Further, hereinafter, the side surfaces (including the outer surface and the inner surface) of the shaft 18 and the rotating body 32 in the radial direction (direction orthogonal to the θ direction) with respect to the central axis AX are also referred to as peripheral side surfaces, respectively.

そして、第１の部分回転体３２Ａのハブ部３２Ａｃの周側面の中央部に、シャフト１８の中心軸ＡＸから半径方向に平行に（外周面から内周面に向かうように）、円形の貫通穴３２Ａｄが形成され、シャフト１８の周側面の対応する位置にも円形の貫通穴１８ｂが形成されている。貫通穴３２Ａｄ及び１８ｂを通るように、棒状の位置決めピン５４Ａを差し込むことで、第１の部分回転体３２Ａとシャフト１８との円周方向及び中心軸ＡＸに沿った方向（以下、軸方向ともいう）の位置決めを行うことができる。 Then, in the central portion of the peripheral side surface of the hub portion 32Ac of the first partial rotating body 32A, a circular through hole parallel to the central axis AX of the shaft 18 in the radial direction (from the outer peripheral surface to the inner peripheral surface). 32Ad is formed, and a circular through hole 18b is also formed at a corresponding position on the peripheral side surface of the shaft 18. By inserting the rod-shaped positioning pin 54A so as to pass through the through holes 32Ad and 18b, the circumferential direction of the first partial rotating body 32A and the shaft 18 and the direction along the central axis AX (hereinafter, also referred to as the axial direction). ) Can be positioned.

また、第２の部分回転体３２Ｂのハブ部３２Ｂｃの側面に設けたピン５４Ｂを、第１の部分回転体３２Ａのハブ部３２Ａｃの側面に設けた凹部３２Ａｅに嵌合させて、ボルトＢ１で部分回転体３２Ｂと部分回転体３２Ａとを連結することで、部分回転体３２Ａ（シャフト１８）に対して部分回転体３２Ｂを位置決めできる。同様に、第３の部分回転体３２Ｃのハブ部３２Ｃｃの側面に設けたピン５４Ｃを、第１の部分回転体３２Ａのハブ部３２Ａｃの側面に設けた凹部３２Ａｆに嵌合させて、ボルトＢ２で部分回転体３２Ｃと部分回転体３２Ａとを連結することで、部分回転体３２Ａ（シャフト１８）に対して部分回転体３２Ｃを位置決めできる。また、実際には第２の部分回転体３２Ｂのハブ部３２Ｂｃと第３の部分回転体３２Ｃのハブ部３２Ｃｃとは図２（Ａ）のボルトＢ３によって連結されているが、図面の錯綜を避けるため、以下の説明ではボルトＢ３を省略する。なお、第２の部分回転体３２Ｂのハブ部３２Ｂｃの内面に設けたピン（不図示）をシャフト１８の側面に設けた凹部（不図示）に嵌合させて、部分回転体３２Ｂをシャフト１８に対して位置決めしてもよい。この際に、ピン５４Ｂを省略してもよい。同様に、第３の部分回転体３２Ｃをシャフト１８に対して位置決めしてもよい。なお、各ハブ部の側面は、他のハブの側面と接触する面であるので接触面ともいう。 Further, the pin 54B provided on the side surface of the hub portion 32Bc of the second partial rotating body 32B is fitted into the recess 32Ae provided on the side surface of the hub portion 32Ac of the first partial rotating body 32A, and the portion is formed by the bolt B1. By connecting the rotating body 32B and the partial rotating body 32A, the partial rotating body 32B can be positioned with respect to the partial rotating body 32A (shaft 18). Similarly, the pin 54C provided on the side surface of the hub portion 32Cc of the third partial rotating body 32C is fitted into the recess 32Af provided on the side surface of the hub portion 32Ac of the first partial rotating body 32A, and the bolt B2 is used. By connecting the partial rotating body 32C and the partial rotating body 32A, the partial rotating body 32C can be positioned with respect to the partial rotating body 32A (shaft 18). Further, in reality, the hub portion 32Bc of the second partial rotating body 32B and the hub portion 32Cc of the third partial rotating body 32C are connected by the bolt B3 of FIG. 2A, but the complexity of the drawings is avoided. Therefore, the bolt B3 is omitted in the following description. A pin (not shown) provided on the inner surface of the hub portion 32Bc of the second partial rotating body 32B is fitted into a recess (not shown) provided on the side surface of the shaft 18, and the partial rotating body 32B is attached to the shaft 18. It may be positioned with respect to it. At this time, the pin 54B may be omitted. Similarly, the third partial rotating body 32C may be positioned with respect to the shaft 18. The side surface of each hub portion is also referred to as a contact surface because it is a surface that comes into contact with the side surface of another hub.

そして、シャフト１８が無い状態で、ボルトＢ１，Ｂ２，Ｂ３を用いて部分回転体３２Ａ〜３２Ｃを連結して形成される回転体３２の内径は、シャフト１８の外径よりもわずかに小さく設定されている。このため、部分回転体３２Ａ〜３２Ｃでシャフト１８を囲む状態で、ボルトＢ１，Ｂ２，Ｂ３を用いて部分回転体３２Ａ〜３２Ｃを連結することによって、部分回転体３２Ａ〜３２Ｃがシャフト１８を締め付けることになり、部分回転体３２Ａ〜３２Ｃがシャフト１８に安定に装着される。
なお、図３（Ｂ）に示すように、シャフト１８の周側面には、円形の貫通穴１８ｂの代わりに、軸方向に細長い貫通穴１８ｂ１、円周方向に細長い貫通穴１８ｂ２、又は円周方向に形成された所定深さの溝１８ｂ３を設けてもよい。シャフト１８の周側面に細長い貫通穴１８ｂ１及び１８ｂ２を設けた場合、第１の部分回転体３２Ａのハブ部３２Ａｃの周側面の中央部には２つの円形の貫通穴を形成し、２つの円形の貫通穴を介して２つの位置決めピンを細長い貫通穴１８ｂ１及び１８ｂ２のそれぞれに差し込めばよい。すなわち、細長い貫通穴１８ｂ１と位置決めピンとを嵌合させることによって、円周方向の位置決めが行われ、細長い貫通穴１８ｂ２と位置決めピンとを嵌合させることによって、軸方向の位置決めが行われる。The inner diameter of the rotating body 32 formed by connecting the partial rotating bodies 32A to 32C using the bolts B1, B2, and B3 without the shaft 18 is set to be slightly smaller than the outer diameter of the shaft 18. ing. Therefore, the partial rotating bodies 32A to 32C tighten the shaft 18 by connecting the partial rotating bodies 32A to 32C using the bolts B1, B2, and B3 while the shaft 18 is surrounded by the partial rotating bodies 32A to 32C. Therefore, the partial rotating bodies 32A to 32C are stably mounted on the shaft 18.
As shown in FIG. 3B, instead of the circular through hole 18b, the axially elongated through hole 18b1, the circumferentially elongated through hole 18b2, or the circumferential direction is formed on the peripheral side surface of the shaft 18. A groove 18b3 having a predetermined depth may be provided in the above. When elongated through holes 18b1 and 18b2 are provided on the peripheral side surface of the shaft 18, two circular through holes are formed in the central portion of the peripheral side surface of the hub portion 32Ac of the first partial rotating body 32A, and the two circular through holes are formed. Two positioning pins may be inserted into the elongated through holes 18b1 and 18b2, respectively, through the through holes. That is, by fitting the elongated through hole 18b1 and the positioning pin, positioning in the circumferential direction is performed, and by fitting the elongated through hole 18b2 and the positioning pin, positioning in the axial direction is performed.

また、シャフト１８の側面に溝１８ｂ３を設けた場合、上記構成と同じように、第１の部分回転体３２Ａのハブ部３２Ａｃの中央部には円形の貫通穴を形成し、この円形の貫通穴を介して位置決めピンの先端部を溝１８ｂ３に差し込めばよい。すなわち、溝１８ｂ３と位置決めピンの先端部とを嵌合（係合）させることによって、軸方向の位置決めが行われる。この構成の場合、円周方向の位置決めは、部分回転体３２Ａ〜３２Ｃがシャフト１８を締め付ける力で行ってもよいし、溝１８ｂ３に加え、上述した細長い貫通穴１８ｂ１を併用してもよい。 Further, when the groove 18b3 is provided on the side surface of the shaft 18, a circular through hole is formed in the central portion of the hub portion 32Ac of the first partial rotating body 32A, and the circular through hole is formed in the same manner as in the above configuration. The tip of the positioning pin may be inserted into the groove 18b3 via the groove 18b3. That is, axial positioning is performed by fitting (engaging) the groove 18b3 and the tip of the positioning pin. In the case of this configuration, the positioning in the circumferential direction may be performed by the force with which the partial rotating bodies 32A to 32C tighten the shaft 18, or the elongated through hole 18b1 described above may be used in combination with the groove 18b3.

さらに、シャフト１８と第１の部分回転体３２Ａとの位置決めを位置決めピン５４Ａで行う構成について説明したが、この構成に限定されない。例えば、シャフト１８にフランジを形成し、このフランジに第１の部分回転体３２Ａ、第２の部分回転体３２Ｂ、第３の部分回転体３２Ｃの少なくとも一つを載置した状態で、各部分回転体をボルトで連結してもよい。 Further, although the configuration in which the shaft 18 and the first partial rotating body 32A are positioned by the positioning pin 54A has been described, the present invention is not limited to this configuration. For example, a flange is formed on the shaft 18, and each partial rotation is performed with at least one of the first partial rotating body 32A, the second partial rotating body 32B, and the third partial rotating body 32C mounted on the flange. The bodies may be connected with bolts.

図２（Ｃ）に戻り、処理装置４０は、第１の受発光部３６Ａの受光素子３６Ａｂの検出信号を処理して絶対角度を求める絶対角度回路４２Ａ１及び第１の受発光部３６Ａの受光素子Ａｃの検出信号を処理して積算値を求める内挿回路４２Ａ２と、絶対角度回路４２Ａ１及び内挿回路４２Ａ２の出力からシャフト１８の回転角の絶対値を高精度に求める第１のカウンタ４４Ａと、第２の受発光部３６Ｂの受光素子３６Ｂｂの検出信号を処理して絶対角度を求める絶対角度回路４２Ｂ１及び第２の受発光部３６Ｂの受光素子３６Ｂｃの検出信号を処理して積算値を求める内挿回路４２Ｂ２と、絶対角度回路４２Ｂ１及び内挿回路４２Ｂ２の出力からシャフト１８の回転角の絶対値を高精度に求める第２のカウンタ４４Ｂと、を有する。さらに、処理装置４０は、絶対角度回路４２Ａ１，４２Ｂ１の出力と、第１及び第２のカウンタ４４Ａ，４４Ｂの出力とを用いて、回転体３２の境界部３３Ａ〜３３Ｃに影響されることなく、シャフト１８の回転角の絶対値等の回転情報を高精度に求める切り替え回路４６を有する。なお、処理装置４０の少なくとも一部の回路は、基板３８Ａ，３８Ｂに形成されていてもよい。 Returning to FIG. 2C, the processing device 40 processes the detection signal of the light receiving element 36Ab of the first light receiving / emitting unit 36A to obtain the absolute angle, and the light receiving element of the first light receiving / receiving unit 36A and the absolute angle circuit 42A1. The insertion circuit 42A2 that processes the detection signal of Ac to obtain the integrated value, and the first counter 44A that obtains the absolute value of the rotation angle of the shaft 18 from the outputs of the absolute angle circuit 42A1 and the insertion circuit 42A2 with high accuracy. The absolute angle circuit 42B1 that processes the detection signal of the light receiving element 36Bb of the second light receiving / receiving unit 36B to obtain the absolute angle and the detection signal of the light receiving element 36Bc of the second light receiving / receiving unit 36B are processed to obtain the integrated value. It has an insertion circuit 42B2 and a second counter 44B that obtains the absolute value of the rotation angle of the shaft 18 from the outputs of the absolute angle circuit 42B1 and the insertion circuit 42B2 with high accuracy. Further, the processing device 40 uses the outputs of the absolute angle circuits 42A1 and 42B1 and the outputs of the first and second counters 44A and 44B without being affected by the boundary portions 33A to 33C of the rotating body 32. It has a switching circuit 46 that obtains rotation information such as an absolute value of the rotation angle of the shaft 18 with high accuracy. At least a part of the circuits of the processing device 40 may be formed on the substrates 38A and 38B.

一例として、切り替え回路４６は記憶部を有し、この記憶部には、例えば受発光部３６Ａがアブソリュートパターン３４Ａを検出して得られる絶対角度と、この絶対角度が得られたときに、受発光部３６Ｂがアブソリュートパターン３４Ａを検出して得られる絶対角度との関係が記憶されている。すなわち、記憶部は受発光部３６Ａと受発光部３６Ｂとの位置関係を記憶している。また、記憶部には、例えば境界部３３Ａが受発光部３６Ａの検出領域にあるときの境界部３３Ｂ，３３Ｃの絶対角度（又はアブソリュートパターン３４Ａ内での境界部３３Ａ〜３３Ｃの絶対角度）が記憶されている。そして、切り替え回路４６では、例えば第１のカウンタ４４Ａの出力からシャフト１８の回転情報を求めているときに、絶対角度回路４２Ａ１から出力される絶対角度が境界部３３Ａ〜３３Ｃの絶対角度に対して所定角度の範囲（例えば２０°程度）内になったときには、第２のカウンタ４４Ｂの出力からシャフト１８の回転情報を求めるように第１のカウンタ４４Ａの出力から第２のカウンタ４４Ｂの出力に切り替える。この際に、第１のカウンタ４４Ａの出力を第２のカウンタ４４Ｂの出力としてプリセットしてもよい。この後、第１の受発光部３６Ａの検出領域３６ＡＡ，３６ＡＩを境界部３３Ａ〜３３Ｃが通過しても、高精度にシャフト１８の回転情報を求めることができる。 As an example, the switching circuit 46 has a storage unit, and the storage unit includes, for example, an absolute angle obtained by detecting the absolute pattern 34A by the light receiving / receiving unit 36A, and receiving / emitting light when this absolute angle is obtained. The relationship with the absolute angle obtained by detecting the absolute pattern 34A by the unit 36B is stored. That is, the storage unit stores the positional relationship between the light receiving / receiving unit 36A and the light receiving / emitting unit 36B. Further, the storage unit stores, for example, the absolute angles of the boundary portions 33B and 33C (or the absolute angles of the boundary portions 33A to 33C in the absolute pattern 34A) when the boundary portion 33A is in the detection region of the light emitting / receiving unit 36A. Has been done. Then, in the switching circuit 46, for example, when the rotation information of the shaft 18 is obtained from the output of the first counter 44A, the absolute angle output from the absolute angle circuit 42A1 is relative to the absolute angle of the boundary portions 33A to 33C. When the angle is within a predetermined angle range (for example, about 20 °), the output of the first counter 44A is switched to the output of the second counter 44B so as to obtain the rotation information of the shaft 18 from the output of the second counter 44B. .. At this time, the output of the first counter 44A may be preset as the output of the second counter 44B. After that, even if the boundary portions 33A to 33C pass through the detection regions 36AA and 36AI of the first light receiving / receiving unit 36A, the rotation information of the shaft 18 can be obtained with high accuracy.

同様に、第２のカウンタ４４Ｂの出力からシャフト１８の回転情報を求めているときに、絶対角度回路４２Ｂ１から出力される絶対角度と受発光部３６Ｂの位置を示す絶対角度との差分が、境界部３３Ａ〜３３Ｃの絶対角度に対して所定角度の範囲内になったときには、第１のカウンタ４４Ａの出力からシャフト１８の回転情報を求めるようにすればよい。この際に、第２のカウンタ４４Ｂの出力を第１のカウンタ４４Ａの出力としてプリセットしておいてもよい。この切り替え動作によって、境界部３３Ａ〜３３Ｃの位置に関係なく、常に高精度にシャフト１８の回転情報を求めることができる。 Similarly, when the rotation information of the shaft 18 is obtained from the output of the second counter 44B, the difference between the absolute angle output from the absolute angle circuit 42B1 and the absolute angle indicating the position of the light emitting / receiving unit 36B is the boundary. When the angle falls within the range of a predetermined angle with respect to the absolute angle of the portions 33A to 33C, the rotation information of the shaft 18 may be obtained from the output of the first counter 44A. At this time, the output of the second counter 44B may be preset as the output of the first counter 44A. By this switching operation, the rotation information of the shaft 18 can always be obtained with high accuracy regardless of the positions of the boundary portions 33A to 33C.

また、回転体３２のスケール部３２ｂの表面と反対側の面（ハブ部３２ｃ側の面）３２ｄの周縁部には、図２（Ｂ）に示すように、シャフト１８の中心軸ＡＸからわずかに偏心した開き角がほぼ１８０°の細い扇形のＮ極の磁石４８Ａ及びＳ極の磁石４８Ｃが固定され、磁石４８Ａ及び磁石４８Ｃの内側に、中心軸ＡＸからわずかに偏心した開き角がほぼ１８０°の細い扇形のＳ極の磁石４８Ｂ及びＮ極の磁石４８Ｄが固定されている。なお、一例として、磁石４８Ａ〜４８Ｄはそれぞれほぼ輪帯を２分割して得られる形状の強磁性体を軸方向に磁化したものである。例えばＮ極の磁石４８Ａの面３２ｄに接する部分はＳ極に着磁されている。さらに、磁石４８Ａ〜４８Ｄに対向するように、例えば９０°の開き角で２つの磁気センサ５０Ａ，５０Ｂが配置されている。磁気センサ５０Ａ，５０Ｂは、例えば複数の磁気抵抗素子又はホール素子等を組み合わせたものである。磁気センサ５０Ａ，５０Ｂは、シャフト１８を回転可能に支持している車両本体部（不図示）に所定の連結部材（不図示）を介して支持されている。 Further, as shown in FIG. 2B, the peripheral portion of the surface of the rotating body 32 opposite to the surface of the scale portion 32b (the surface on the hub portion 32c side) 32d is slightly from the central axis AX of the shaft 18. A thin fan-shaped N-pole magnet 48A and S-pole magnet 48C with an eccentric opening angle of approximately 180 ° are fixed, and an opening angle slightly eccentric from the central axis AX is approximately 180 ° inside the magnet 48A and magnet 48C. A thin fan-shaped S-pole magnet 48B and an N-pole magnet 48D are fixed. As an example, the magnets 48A to 48D are magnetized in the axial direction of a ferromagnet having a shape obtained by dividing the annulus into two. For example, the portion of the north pole magnet 48A in contact with the surface 32d is magnetized to the south pole. Further, two magnetic sensors 50A and 50B are arranged so as to face the magnets 48A to 48D, for example, with an opening angle of 90 °. The magnetic sensors 50A and 50B are, for example, a combination of a plurality of magnetoresistive elements or Hall elements. The magnetic sensors 50A and 50B are supported by a vehicle body (not shown) that rotatably supports the shaft 18 via a predetermined connecting member (not shown).

回転体３２の回転によって磁気センサ５０Ａ，５０Ｂ上での磁石４８Ａ〜４８Ｄの磁界が変化し、磁気センサ５０Ａ，５０Ｂの検出信号が変化する。処理装置４０内には、磁気センサ５０Ａ，５０Ｂの検出信号より、磁石４８Ａ〜４８Ｄ（シャフト１８）の回転方向及び回転数（多回転情報）を求める多回転情報検出回路５２が設けられている。多回転情報検出回路５２の検出結果は切り替え回路４６に供給されており、切り替え回路４６はその多回転情報を用いて３６０°を超える範囲のシャフト１８の回転角を求めることができる。なお、磁石４８Ａ〜４８Ｄ及び磁気センサ５０Ａ，５０Ｂを用いることなく、回転体３２の表面３２ａに多回転情報を含むパターンを形成しておき、このパターンを別の受発光部（不図示）によって検出することで、多回転情報を求めてもよい。 The rotation of the rotating body 32 changes the magnetic fields of the magnets 48A to 48D on the magnetic sensors 50A and 50B, and the detection signals of the magnetic sensors 50A and 50B change. The processing device 40 is provided with a multi-rotation information detection circuit 52 that obtains the rotation direction and the rotation speed (multi-rotation information) of the magnets 48A to 48D (shaft 18) from the detection signals of the magnetic sensors 50A and 50B. The detection result of the multi-rotation information detection circuit 52 is supplied to the switching circuit 46, and the switching circuit 46 can obtain the rotation angle of the shaft 18 in a range exceeding 360 ° by using the multi-rotation information. A pattern including multi-rotation information is formed on the surface 32a of the rotating body 32 without using the magnets 48A to 48D and the magnetic sensors 50A and 50B, and this pattern is detected by another light receiving / receiving unit (not shown). By doing so, the multi-rotation information may be obtained.

また、図４（Ｂ）、（Ｃ）、（Ｄ）は、それぞれ図４（Ａ）の部分回転体３２Ａ，３２Ｂの境界部３３Ａの上端部を含む円形の領域Ａの拡大図である。図４（Ｂ）に示すように、部分回転体３２Ａ，３２Ｂの表面３２Ａａ，３２Ｂａには円周方向に最小の幅Ｗ１の非反射部３４Ｉａと最小の幅Ｗ２の反射部３４Ｉｂ（第１反射部）とを周期Ｐ（＝Ｗ１＋Ｗ２）で配列したインクリメンタルパターン３４Ｉが形成されている。また、部分回転体３２Ａ，３２Ｂの表面のうち、境界部３３Ａの上端部の表面３２Ａａ，３２Ｂａには、傾斜角φが４５°の傾斜部３２Ａａ１，３２Ｂａ１が形成されている。傾斜部３２Ａａ１，３２Ｂａ１の円周方向の全体の幅Ｗ３は、一例として反射部３４Ｉｂの幅Ｗ２と同じである。この場合、図２（Ｃ）の発光素子３６Ａａ（又は３６Ｂａ）からほぼ軸方向に平行に傾斜部３２Ａａ１，３２Ｂａ１に入射する光ＩＬは、２回の反射によって入射した方向に反射されるため、傾斜部３２Ａａ１，３２Ｂａ１は反射部３４Ｉｂとみなすことができる。また、表面３２Ａａ，３２Ｂａにインクリメンタルパターン３４Ｉと平行に形成されているアブソリュートパターン（不図示）の最小幅の反射部は、傾斜部３２Ａａ１，３２Ｂａ１を含む領域に形成されている。他の境界部３３Ｂ，３３Ｃの上端部の表面も同様に反射部となる。このため、境界部３３Ａ〜３３Ｃは、それらのパターンの最小幅の反射部（第２反射部）内に形成されているとみなすことができ、境界部３３Ａ〜３３Ｃが受発光部３６Ａ，３６Ｂの検出領域を通過しても、検出信号のレベルの変化が小さく、常に高精度にシャフト１８の回転情報を検出できる。 4 (B), (C), and (D) are enlarged views of a circular region A including the upper end portion of the boundary portion 33A of the partial rotating bodies 32A and 32B of FIG. 4A, respectively. As shown in FIG. 4B, the surfaces 32Aa and 32Ba of the partial rotating bodies 32A and 32B have a non-reflective portion 34Ia having a minimum width W1 and a reflecting portion 34Ib (first reflecting portion) having a minimum width W2 in the circumferential direction. ) Are arranged in a period P (= W1 + W2) to form an incremental pattern 34I. Further, among the surfaces of the partial rotating bodies 32A and 32B, inclined portions 32Aa1 and 32Ba1 having an inclination angle φ of 45 ° are formed on the surfaces 32Aa and 32Ba of the upper end portion of the boundary portion 33A. The overall width W3 of the inclined portions 32Aa1 and 32Ba1 in the circumferential direction is the same as the width W2 of the reflecting portion 34Ib as an example. In this case, the light IL incident on the inclined portions 32Aa1 and 32Ba1 substantially parallel to the axial direction from the light emitting element 36Aa (or 36Ba) of FIG. 2C is reflected in the incident direction by the two reflections, so that the light IL is inclined. The portions 32Aa1 and 32Ba1 can be regarded as the reflecting portion 34Ib. Further, the reflection portion having the minimum width of the absolute pattern (not shown) formed on the surfaces 32Aa and 32Ba in parallel with the incremental pattern 34I is formed in the region including the inclined portions 32Aa1 and 32Ba1. The surfaces of the upper ends of the other boundary portions 33B and 33C also serve as reflective portions. Therefore, the boundary portions 33A to 33C can be regarded as being formed in the reflection portion (second reflection portion) having the minimum width of those patterns, and the boundary portions 33A to 33C are the light emitting and receiving portions 36A and 36B. Even if it passes through the detection region, the change in the level of the detection signal is small, and the rotation information of the shaft 18 can always be detected with high accuracy.

また、図４（Ｃ）に示すように、部分回転体３２Ａ，３２Ｂの境界部３３Ａの上端部の表面３２Ａａ，３２Ｂａには、傾斜角φが４５°の非反射部３２Ａａ２，３２Ｂａ２を形成してもよい。非反射部３２Ａａ２，３２Ｂａ２の円周方向の全体の幅Ｗ３は、一例として非反射部３４Ｉａ（第１非反射部）の最小の幅Ｗ１と同じか、又は１以上の整数ｎを用いて（Ｗ１＋ｎ・Ｐ）に設定される。この場合、図２（Ｃ）の発光素子３６Ａａ（又は３６Ｂａ）からほぼ軸方向に平行に境界部３３Ａに入射する光ＩＬは、非反射部３２Ａａ２，３２Ｂａ２（第２非反射部）で反射されないため、境界部３３Ａは非反射部３４Ｉａ、又は非反射部３４Ｉａを周期Ｐのｎ倍だけずらした部分の下に形成されているとみなすことができる。また、表面３２Ａａ，３２Ｂａのアブソリュートパターン（不図示）の非反射部は、非反射部３２Ａａ２，３２Ｂａ２を含む領域に形成されている。他の境界部３３Ｂ，３３Ｃも同様に非反射部の下に形成されている。このため、境界部３３Ａ〜３３Ｃは、それらのパターンの最小幅、又は最小幅に周期Ｐのｎ倍を加えた幅の非反射部とみなすことができ、境界部３３Ａ〜３３Ｃが受発光部３６Ａ，３６Ｂの検出領域を通過しても、検出信号のレベルの変化が小さく、常に高精度にシャフト１８の回転情報を検出できる。 Further, as shown in FIG. 4C, non-reflective portions 32Aa2 and 32Ba2 having an inclination angle φ of 45 ° are formed on the surfaces 32Aa and 32Ba of the upper end portions of the boundary portions 33A of the partial rotating bodies 32A and 32B. May be good. The total width W3 of the non-reflective portions 32Aa2 and 32Ba2 in the circumferential direction is, for example, the same as the minimum width W1 of the non-reflective portion 34Ia (first non-reflective portion), or an integer n of 1 or more is used (W1 + n).・ It is set to P). In this case, the light IL incident on the boundary portion 33A substantially in the axial direction from the light emitting element 36Aa (or 36Ba) of FIG. 2C is not reflected by the non-reflective portions 32Aa2 and 32Ba2 (second non-reflective portion). , The boundary portion 33A can be regarded as being formed under the non-reflective portion 34Ia or the non-reflective portion 34Ia shifted by n times the period P. Further, the non-reflective portion of the absolute pattern (not shown) of the surfaces 32Aa and 32Ba is formed in the region including the non-reflective portions 32Aa2 and 32Ba2. The other boundary portions 33B and 33C are also formed below the non-reflective portion. Therefore, the boundary portions 33A to 33C can be regarded as the minimum width of those patterns or the non-reflective portion having the width obtained by adding n times the period P to the minimum width, and the boundary portions 33A to 33C are the light emitting and receiving portions 36A. Even after passing through the detection region of, 36B, the change in the level of the detection signal is small, and the rotation information of the shaft 18 can always be detected with high accuracy.

また、図４（Ｄ）に示すように、部分回転体３２Ａ，３２Ｂの境界部３３Ａの上端部の表面３２Ａａ，３２Ｂａには、円周方向の幅Ｗ３の隙間３３Ａａを形成してもよい。隙間３３Ａａの幅Ｗ３は、一例として非反射部３４Ｉａの幅Ｗ１と同じか、又は１以上の整数ｎを用いて（Ｗ１＋ｎ・Ｐ）に設定される。この場合、図２（Ｃ）の発光素子３６Ａａ（又は３６Ｂａ）からほぼ軸方向に平行に境界部３３Ａに入射する光ＩＬは、隙間３３Ａａで反射されないため、隙間３３Ａａは非反射部３４Ｉａ、又は非反射部３４Ｉａを周期Ｐのｎ倍だけずらした部分とみなすことができる。他の境界部３３Ｂ，３３Ｃの上端にも同様に隙間が設けられている。このため、境界部３３Ａ〜３３Ｃは、表面３２Ａａ，３２Ｂａに設けられているパターンの最小幅、又は最小幅に周期Ｐのｎ倍を加えた幅の非反射部の下に形成されているとみなすことができ、境界部３３Ａ〜３３Ｃが受発光部３６Ａ，３６Ｂの検出領域を通過しても、検出信号のレベルの変化が小さく、常に高精度にシャフト１８の回転情報を検出できる。 Further, as shown in FIG. 4D, a gap 33Aa having a width W3 in the circumferential direction may be formed on the surfaces 32Aa and 32Ba of the upper end portion of the boundary portion 33A of the partial rotating bodies 32A and 32B. As an example, the width W3 of the gap 33Aa is set to (W1 + n · P) using an integer n equal to or greater than the width W1 of the non-reflective portion 34Ia. In this case, the light IL incident on the boundary portion 33A substantially in the axial direction from the light emitting element 36Aa (or 36Ba) of FIG. 2C is not reflected by the gap 33Aa, so that the gap 33Aa is the non-reflective portion 34Ia or non-reflective portion 34Ia. The reflecting portion 34Ia can be regarded as a portion shifted by n times the period P. A gap is similarly provided at the upper ends of the other boundary portions 33B and 33C. Therefore, it is considered that the boundary portions 33A to 33C are formed under the minimum width of the patterns provided on the surfaces 32Aa and 32Ba, or the non-reflective portion having a width obtained by adding n times the period P to the minimum width. Even if the boundary portions 33A to 33C pass through the detection regions of the light emitting / receiving portions 36A and 36B, the change in the level of the detection signal is small, and the rotation information of the shaft 18 can always be detected with high accuracy.

なお、図４（Ｂ）〜（Ｃ）の例で示すように、回転体３２の境界部３３Ａ〜３３Ｃをそれらのパターンの反射部又は非反射部とみなすことができる場合には、検出信号のレベルの変化が小さいため、図２（Ａ）の２つ受発光部３６Ａ，３６Ｂの一方を省略して、一つの受発光部３６Ａ（又は３６Ｂ）のみを用いてもよい。このように一つの受発光部のみを用いても、シャフト１８の回転情報を高精度に検出できる。 As shown in the examples of FIGS. 4B to 4C, when the boundary portions 33A to 33C of the rotating body 32 can be regarded as the reflective or non-reflective portions of those patterns, the detection signal Since the change in level is small, one of the two light receiving and emitting units 36A and 36B in FIG. 2A may be omitted, and only one light receiving and emitting unit 36A (or 36B) may be used. As described above, even if only one light receiving / receiving unit is used, the rotation information of the shaft 18 can be detected with high accuracy.

次に、図５のフローチャートを参照して本実施形態のエンコーダ部１２の組立方法の一例につき説明する。この場合、エンコーダ部１２の回転体３２は、図１に示すように、一端部側にシャフト１８の断面形状よりも大きいステアリングホイール１４が取り付けられ、他端部側にシャフト１８の断面形状よりも大きいアクチュエータ１６が装着されたシャフト１８の中央部分に取り付けられるものとする。
図５のステップ１０２において、図３（Ａ）の複数（ここでは３つ）の部分回転体３２Ａ〜３２Ｃ、図２（Ｃ）の基板３８Ａ，３８Ｂに装着された受発光部３６Ａ，３６Ｂ、及び処理装置４０を準備する。まず、３つの部分回転体３２Ａ〜３２Ｃの製造方法について説明する。図６（Ａ）に示すように、３つの部分回転体３２Ａ〜３２Ｃを一体化した形状の回転体の原型３２Ｍを製造する。原型３２Ｍは輪帯状のスケール部３２Ｍｂと、スケール部３２Ｍｂの外径よりも外径が小さい円筒状のハブ部３２Ｍｃとを一体化した形状であり、原型３２Ｍの中央部には、円形の貫通穴３２Ｍｅが形成されている。円形の貫通穴３２Ｍｅの内径は、シャフト１８の外径と同じか、又はその外径よりもわずかに小さく設定されている。Next, an example of the method of assembling the encoder unit 12 of the present embodiment will be described with reference to the flowchart of FIG. In this case, as shown in FIG. 1, the rotating body 32 of the encoder portion 12 has a steering wheel 14 attached to one end side having a size larger than the cross-sectional shape of the shaft 18, and the other end side having a steering wheel 14 larger than the cross-sectional shape of the shaft 18. It shall be attached to the central portion of the shaft 18 to which the large actuator 16 is mounted.
In step 102 of FIG. 5, a plurality of (three in this case) partial rotating bodies 32A to 32C of FIG. 3A, light emitting and receiving portions 36A and 36B mounted on the substrates 38A and 38B of FIG. 2C, and The processing device 40 is prepared. First, a method for manufacturing the three partial rotating bodies 32A to 32C will be described. As shown in FIG. 6A, a prototype 32M of a rotating body having a shape in which three partial rotating bodies 32A to 32C are integrated is manufactured. The prototype 32M has a shape in which a ring-shaped scale portion 32Mb and a cylindrical hub portion 32Mc having an outer diameter smaller than the outer diameter of the scale portion 32Mb are integrated, and a circular through hole is formed in the central portion of the prototype 32M. 32 Me is formed. The inner diameter of the circular through hole 32Me is set to be the same as or slightly smaller than the outer diameter of the shaft 18.

さらに、例えばリソグラフィー工程を用いて、原型３２Ｍの表面３２Ｍａにアブソリュートパターン３４Ａ及びインクリメンタルパターン３４Ｉを形成し、各パターンを形成した後、例えばワイヤカット放電加工機を用いて、回転体の原型３２Ｍを３箇所の境界部３３Ａ〜３３Ｃに対応する位置で切断する。この後、切断で形成された３つの部分回転体に図３（Ａ）の貫通穴３２Ａｄ等を形成することで、部分回転体３２Ａ〜３２Ｃを製造できる。なお、部分回転体３２Ａ〜３２Ｃは互いに別の部材から形成してもよい。また、受発光部３６Ａ，３６Ｂ及び処理装置４０は、例えば半導体素子製造プロセスを用いて製造できる。 Further, for example, an absolute pattern 34A and an incremental pattern 34I are formed on the surface 32Ma of the prototype 32M by using a lithography process, and after forming each pattern, for example, a wire cut electric discharge machine is used to form the prototype 32M of the rotating body 3 Cut at the position corresponding to the boundary portion 33A to 33C of the portion. After that, the partial rotating bodies 32A to 32C can be manufactured by forming the through holes 32Ad and the like shown in FIG. 3A in the three partial rotating bodies formed by cutting. The partial rotating bodies 32A to 32C may be formed from members different from each other. Further, the light emitting and receiving units 36A and 36B and the processing device 40 can be manufactured by using, for example, a semiconductor element manufacturing process.

次のステップ１０４において、３つの部分回転体３２Ａ〜３２Ｃをシャフト１８の側面方向側からシャフト１８の周側面に取り付ける。そのため、図６（Ｂ）に示すように、第１の部分回転体３２Ａの貫通穴３２Ａｄ及びシャフト１８の周側面の貫通穴１８ｂに位置決めピン５４Ａを差し込む。さらに、図６（Ｃ）に示すように、ボルトＢ１を用いて第１の部分回転体３２Ａの側面に第２の部分回転体３２Ｂの側面を連結し、図３（Ａ）のボルトＢ２を用いて第１の部分回転体３２Ａの側面に第３の部分回転体３２Ｃの側面を連結する。また、図２（Ａ）のボルトＢ３を用いて第２の部分回転体３２Ｂの側面に第３の部分回転体３２Ｃの側面を連結する。これによって、図２（Ａ）に示すように、シャフト１８を挟み込むように回転体３２がシャフト１８の周側面に取り付けられる。なお、各ボルトによって回転体３２がシャフト１８を締め付ける力が十分であれば、この後で第１の部分回転体３２Ａから位置決めピン５４Ａを引き抜いてもよい。 In the next step 104, the three partial rotating bodies 32A to 32C are attached to the peripheral side surface of the shaft 18 from the side surface direction side of the shaft 18. Therefore, as shown in FIG. 6B, the positioning pin 54A is inserted into the through hole 32Ad of the first partial rotating body 32A and the through hole 18b on the peripheral side surface of the shaft 18. Further, as shown in FIG. 6 (C), the side surface of the second partial rotating body 32B is connected to the side surface of the first partial rotating body 32A by using the bolt B1, and the bolt B2 of FIG. 3 (A) is used. The side surface of the third partial rotating body 32C is connected to the side surface of the first partial rotating body 32A. Further, the side surface of the third partial rotating body 32C is connected to the side surface of the second partial rotating body 32B by using the bolt B3 of FIG. 2 (A). As a result, as shown in FIG. 2A, the rotating body 32 is attached to the peripheral side surface of the shaft 18 so as to sandwich the shaft 18. If the force with which the rotating body 32 tightens the shaft 18 by each bolt is sufficient, the positioning pin 54A may be pulled out from the first partial rotating body 32A after that.

次に、ステップ１０６において、回転体３２（インクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａ）と、受発光部３６Ａ，３６Ｂとの位置合わせを行い、ステップ１０８において、受発光部３６Ａ，３６Ｂの基板３８Ａ，３８Ｂを不図示の連結部材に固定し、受発光部３６Ａ，３６Ｂを処理装置４０と接続する。さらに、回転体３２のスケール部３２ｂの面３２ｄに図２（Ｂ）の磁石４８Ａ〜４８Ｄを接着等で取り付け、不図示の連結部材に磁気センサ５０Ａ，５０Ｂを取り付け、磁気センサ５０Ａ，５０Ｂを処理装置４０と接続することで、エンコーダ部１２の組立が完了する。
なお、エンコーダ部１２の組立方法はこの方法に限定されず、例えば、受発光部３６Ａ，３６Ｂの基板３８Ａ、３８Ｂを上記連結部材に固定した後、回転体３２をシャフト１８の周側面に取り付けてもよい。Next, in step 106, the rotating body 32 (incremental pattern 34I and absolute pattern 34A) is aligned with the light emitting / receiving units 36A and 36B, and in step 108, the substrates 38A and 38B of the light emitting / receiving units 36A and 36B are used. It is fixed to a connecting member (not shown), and the light emitting and receiving units 36A and 36B are connected to the processing device 40. Further, the magnets 48A to 48D of FIG. 2B are attached to the surface 32d of the scale portion 32b of the rotating body 32 by adhesion or the like, the magnetic sensors 50A and 50B are attached to a connecting member (not shown), and the magnetic sensors 50A and 50B are processed. By connecting to the device 40, the assembly of the encoder unit 12 is completed.
The method of assembling the encoder unit 12 is not limited to this method. For example, after fixing the substrates 38A and 38B of the light emitting and receiving units 36A and 36B to the connecting member, the rotating body 32 is attached to the peripheral side surface of the shaft 18. May be good.

また、一例として、図６（Ｄ）に示すように、第１の部分回転体３２Ａと第２の部分回転体３２Ｂとの境界部３３Ａでは、部分回転体３２Ａ，３２Ｂのスケール部３２Ａｂ，３２Ｂｂが密着し、ハブ部３２Ａｃ，３２Ｂｃの間にはわずかな隙間３３Ａｂがある。隙間３３Ａｂでは、位置決めピン５４Ｂによって部分回転体３２Ａ，３２Ｂが位置決めされ、ボルトＢ１によって部分回転体３２Ａ，３２Ｂが連結されている。これは他の境界部３３Ｂ，３３Ｃでも同様である。このような連結方法で部分回転体３２Ａ〜３２Ｃを相互に安定に連結できる。なお、部分回転体３２Ａ，３２Ｂのスケール部３２Ａｂ，３２Ｂｂを密着させ、さらにハブ部３２Ａｃ，３２Ｂｃを密着させてもよい。 Further, as an example, as shown in FIG. 6D, at the boundary portion 33A between the first partial rotating body 32A and the second partial rotating body 32B, the scale portions 32Ab and 32Bb of the partial rotating bodies 32A and 32B are It is in close contact with each other, and there is a slight gap 33Ab between the hub portions 32Ac and 32Bc. In the gap 33Ab, the partial rotating bodies 32A and 32B are positioned by the positioning pin 54B, and the partial rotating bodies 32A and 32B are connected by the bolt B1. This also applies to the other boundary portions 33B and 33C. Partial rotating bodies 32A to 32C can be stably connected to each other by such a connecting method. The scale portions 32Ab and 32Bb of the partial rotating bodies 32A and 32B may be brought into close contact with each other, and the hub portions 32Ac and 32Bc may be brought into close contact with each other.

上述のように、本実施形態のエンコーダ部１２（エンコーダ）は、シャフト１８（回転軸）に取り付けられて、シャフト１８の回転情報を検出するためのパターン３４Ｉ，３４Ａが形成された回転体３２と、回転体３２のパターンを検出する受発光部３６Ａ，３６Ｂ（検出部）と、受発光部３６Ａ，３６Ｂの検出結果に基づいてシャフト１８の回転情報を求める処理装置４０（演算部）と、を備えるエンコーダであって、回転体３２は、回転体３２の回転方向（θ方向）に沿って、それぞれそのパターン３４Ｉ，３４Ａの一部が形成された複数の部分回転体３２Ａ〜３２Ｃ（パーツ部）に分割されている。言い替えると、回転体３２は部分回転体３２Ａ〜３２Ｃに分離可能である。 As described above, the encoder unit 12 (encoder) of the present embodiment is attached to the shaft 18 (rotating shaft), and the rotating body 32 and the rotating body 32 on which the patterns 34I and 34A for detecting the rotation information of the shaft 18 are formed are formed. , The light emitting / receiving units 36A and 36B (detection units) that detect the pattern of the rotating body 32, and the processing device 40 (calculation unit) that obtains the rotation information of the shaft 18 based on the detection results of the light emitting / receiving units 36A and 36B. The rotating body 32 is a plurality of partial rotating bodies 32A to 32C (parts) in which a part of the patterns 34I and 34A is formed along the rotation direction (θ direction) of the rotating body 32. It is divided into. In other words, the rotating body 32 can be separated into partial rotating bodies 32A to 32C.

本実施形態のエンコーダ部１２によれば、例えば両端に回転体３２の外径より大きい部材が装着されたシャフト１８の周側面に回転体３２を取り付ける際には、回転体３２を複数の部分回転体３２Ａ〜３２Ｃに分割（分離）してから、部分回転体３２Ａ〜３２Ｃをシャフト１８の周側面に取り付ければよい。このため、シャフト１８に対する回転体３２の取り付けが容易である。さらに、例えばエンコーダ部１２の使用中に、第２の部分回転体３２Ｂの一部が損傷したような場合には、シャフト１８から損傷した第２の部分回転体３２Ｂを取り外し、その代わりに新しい第２の部分回転体３２Ｂを取り付ければよい。これによって、使用中に回転体３２の一部が損傷したときに、その損傷した部分を容易に取り替えることができる。 According to the encoder unit 12 of the present embodiment, for example, when the rotating body 32 is attached to the peripheral side surface of the shaft 18 in which members larger than the outer diameter of the rotating body 32 are mounted on both ends, the rotating body 32 is partially rotated. After dividing (separating) the bodies 32A to 32C, the partial rotating bodies 32A to 32C may be attached to the peripheral side surface of the shaft 18. Therefore, the rotating body 32 can be easily attached to the shaft 18. Further, for example, when a part of the second partial rotating body 32B is damaged while using the encoder unit 12, the damaged second partial rotating body 32B is removed from the shaft 18 and a new second partial rotating body 32B is replaced. The partial rotating body 32B of 2 may be attached. Thereby, when a part of the rotating body 32 is damaged during use, the damaged part can be easily replaced.

また、本実施形態の駆動装置１０は、エンコーダ部１２と、シャフト１８の回転角を制御するアクチュエータ１６（回転角制御部）と、エンコーダ部１２の検出結果を用いてアクチュエータ１６を制御する制御装置２８（制御部）とを備えている。駆動装置１０によれば、シャフト１８に対するエンコーダ部１２の回転体３２の取り付けが容易であるため、駆動装置１０を容易に組み立てることができる。 Further, the drive device 10 of the present embodiment is a control device that controls the actuator 16 by using the encoder unit 12, the actuator 16 (rotation angle control unit) that controls the rotation angle of the shaft 18, and the detection result of the encoder unit 12. 28 (control unit) is provided. According to the drive device 10, since the rotating body 32 of the encoder unit 12 can be easily attached to the shaft 18, the drive device 10 can be easily assembled.

また、本実施形態のエンコーダ部１２の組立方法は、複数の部分回転体３２Ａ〜３２Ｃ及び受発光部３６Ａ，３６Ｂを準備するステップ１０２と、シャフト１８にその側面から複数の部分回転体３２Ａ〜３２Ｃを取り付けるステップ１０４と、複数の部分回転体３２Ａ〜３２Ｃ（回転体３２）と受発光部３６Ａ，３６Ｂとを位置決めするステップ１０６と、シャフト１８を回転可能に支持する支持部（車両本体部）に受発光部３６Ａ，３６Ｂを取り付けるステップ１０８と、を含んでいる。この組立方法によれば、例えば両端に回転体３２の外径より大きい部材が装着されたシャフト１８の側面（周側面）に回転体３２を容易に取り付けることができる。 Further, the method of assembling the encoder unit 12 of the present embodiment includes steps 102 for preparing the plurality of partial rotating bodies 32A to 32C and the light emitting and receiving parts 36A and 36B, and a plurality of partial rotating bodies 32A to 32C on the shaft 18 from the side surface thereof. To the step 104 for mounting the shaft 18, the step 106 for positioning the plurality of partial rotating bodies 32A to 32C (rotating bodies 32) and the light emitting and receiving parts 36A and 36B, and the support part (vehicle body part) for rotatably supporting the shaft 18. A step 108 for attaching the light emitting / receiving units 36A and 36B is included. According to this assembly method, for example, the rotating body 32 can be easily attached to the side surface (peripheral side surface) of the shaft 18 on which members larger than the outer diameter of the rotating body 32 are mounted on both ends.

なお、本実施形態では、以下のような変形が可能である。
まず、図２（Ｃ）の切り替え回路４６は、記憶部に記憶されている境界部３３Ａ〜３３Ｃの絶対角度に基づいてカウンタ４４Ａ，４４Ｂの出力を切り替えているが、受発光部３６Ａ，３６Ｂの検出信号に基づいてカウンタ４４Ａ，４４Ｂの出力を切り替えてもよい。
図７（Ａ）は、図２（Ａ）の回転体３２及び受発光部３６Ａ，３６Ｂを示す平面図であり、図７（Ｂ）及び（Ｃ）はそれぞれ一例として受発光部３６Ａ，３６Ｂのインクリメンタルパターン３４Ｉからの光を検出する受光素子３６Ａｃ，３６Ｂｃ（図２（Ｃ）参照）からの検出信号の振幅を示す信号ＳＩＡ及びＳＩＢである。図７（Ｂ）及び（Ｃ）の横軸は、図７（Ａ）の状態を基準（θ＝０°）とした、シャフト１８（回転体３２）の反時計回りの回転角θ（°）である。この変形例では、信号ＳＩＡ，ＳＩＢは、例えば図２（Ｃ）の内挿回路４２Ａ２，４２Ｂ２から切り替え回路４６に供給される。回転体３２には等角度間隔で３つの境界部３３Ａ〜３３Ｃがあるため、シャフト１８が１回転する間に、信号ＳＩＡ，ＳＩＢのレベルはそれぞれ１２０°間隔で低下するとともに、ＳＩＡ，ＳＩＢのレベルはほぼ６０°位相がずれている。In this embodiment, the following modifications are possible.
First, the switching circuit 46 of FIG. 2C switches the outputs of the counters 44A and 44B based on the absolute angles of the boundary portions 33A to 33C stored in the storage unit. The outputs of the counters 44A and 44B may be switched based on the detection signal.
7 (A) is a plan view showing the rotating body 32 and the light emitting / receiving units 36A and 36B of FIG. 2 (A), and FIGS. 7 (B) and 7 (C) are examples of the light emitting / receiving units 36A and 36B, respectively. These are signals SIA and SIB indicating the amplitude of the detection signal from the light receiving elements 36Ac and 36Bc (see FIG. 2C) that detect the light from the incremental pattern 34I. The horizontal axis of FIGS. 7 (B) and 7 (C) is the counterclockwise rotation angle θ (°) of the shaft 18 (rotating body 32) with the state of FIG. 7 (A) as a reference (θ = 0 °). Is. In this modification, the signals SIA and SIB are supplied to the switching circuit 46 from, for example, the interpolation circuits 42A2 and 42B2 of FIG. 2C. Since the rotating body 32 has three boundary portions 33A to 33C at equal angular intervals, the levels of the signals SIA and SIB decrease at 120 ° intervals while the shaft 18 makes one rotation, and the levels of the SIA and SIB are respectively. Is almost 60 ° out of phase.

切り替え回路４６内では信号ＳＩＡ，ＳＩＢに対して予め所定の閾値Ｓｔｈ（例えば信号ＳＩＡ，ＳＩＢの実測値の最大値と最小値との中間の値など）が設定されている。そして、例えば信号ＳＩＡのレベルが閾値Ｓｔｈよりも大きいときには、受発光部３６Ａの検出信号（カウンタ４４Ａの出力）を用いてシャフト１８の回転情報を検出し、その後、信号ＳＩＡのレベルが閾値Ｓｔｈ以下になったときには、受発光部３６Ｂの検出信号（カウンタ４４Ｂの出力）を用いてシャフト１８の回転情報を検出する。その後、信号ＳＩＢのレベルが閾値Ｓｔｈ以下になったときには、受発光部３６Ａの検出信号（カウンタ４４Ａの出力）を用いてシャフト１８の回転情報を検出する。これによって、回転体３２の境界部３３Ａ〜３３Ｃが受発光部３６Ａ，３６Ｂの検出領域を通過しても、シャフト１８の回転情報を高精度に検出できる。 In the switching circuit 46, a predetermined threshold value Sth (for example, a value between the maximum value and the minimum value of the measured values of the signals SIA and SIB) is set in advance for the signals SIA and SIB. Then, for example, when the level of the signal SIA is larger than the threshold value Sth, the rotation information of the shaft 18 is detected using the detection signal (output of the counter 44A) of the light receiving / receiving unit 36A, and then the level of the signal SIA is equal to or less than the threshold value Sth. When becomes, the rotation information of the shaft 18 is detected by using the detection signal (output of the counter 44B) of the light receiving / receiving unit 36B. After that, when the level of the signal SIB becomes equal to or lower than the threshold value Sth, the rotation information of the shaft 18 is detected by using the detection signal (output of the counter 44A) of the light receiving / receiving unit 36A. As a result, even if the boundary portions 33A to 33C of the rotating body 32 pass through the detection regions of the light emitting / receiving portions 36A and 36B, the rotation information of the shaft 18 can be detected with high accuracy.

なお、回転体３２のインクリメンタルパターン３４Ｉ及び／又はアブソリュートパターン３４Ａの一部に受発光部３６Ａ，３６Ｂの切り替えのタイミングを示すパターンを設けておき、受発光部３６Ａ又は３６Ｂにそのパターンからの光を検出する受光素子を設けておいてもよい。そして、その受光素子の検出信号に基づいて受発光部３６Ａ，３６Ｂ（カウンタ４４Ａ，４４Ｂ）の切り替えを行うようにしてもよい。 A pattern indicating the timing of switching between the light emitting and receiving units 36A and 36B is provided in a part of the incremental pattern 34I and / or the absolute pattern 34A of the rotating body 32, and the light from the pattern is transmitted to the light emitting and receiving unit 36A or 36B. A light receiving element for detection may be provided. Then, the light emitting / receiving units 36A and 36B (counters 44A and 44B) may be switched based on the detection signal of the light receiving element.

また、上述の実施形態では、部分回転体３２Ａ，３２Ｂのスケール部３２Ａｂ，３２Ｂｂを密着させ、ハブ部３２Ａｃ，３２Ｂｃの間にわずかな隙間３３Ａｂを設けている。これに対して、図６（Ｅ）に示すように、境界部３３Ａにおいて、部分回転体３２Ａ，３２Ｂのスケール部３２Ａｂ，３２Ｂｂの間にわずかな隙間３３Ａａを設け、ハブ部３２Ａｃ，３２Ｂｃを密着させてもよい。その隙間３３Ａａは図４（Ｄ）の幅Ｗ３の隙間３３Ａａとして使用できる。 Further, in the above-described embodiment, the scale portions 32Ab and 32Bb of the partial rotating bodies 32A and 32B are brought into close contact with each other, and a slight gap 33Ab is provided between the hub portions 32Ac and 32Bc. On the other hand, as shown in FIG. 6 (E), at the boundary portion 33A, a slight gap 33Aa is provided between the scale portions 32Ab and 32Bb of the partial rotating bodies 32A and 32B, and the hub portions 32Ac and 32Bc are brought into close contact with each other. You may. The gap 33Aa can be used as the gap 33Aa having the width W3 of FIG. 4 (D).

さらに、図６（Ｆ）に示すように、部分回転体３２Ａ，３２Ｂの代わりに、ハブ部３２Ａｃ，３２Ｂｃの下面に、スケール部３２Ａｂ，３２Ｂｂと同様の形状の輪帯部３２Ｄｂ，３２Ｅｂを設けた形状の部分回転体３２Ｄ，３２Ｅを使用してもよい。部分回転体３２Ｄ，３２Ｅの境界部３３Ａにおいて、スケール部３２Ａｂ，３２Ｂｂを密着させ、ハブ部３２Ａｃ，３２Ｂｃの間にわずかな隙間３３Ａｂを設け、輪帯部３２Ｄｂ，３２Ｅｂを密着させてもよい。この例では、部分回転体３２Ｃの代わりに、部分回転体３２Ｄと同様の形状の部分回転体（不図示）が使用される。この連結方法では、スケール部３２Ａｂ，３２Ｂｂをより安定に密着させることができる。 Further, as shown in FIG. 6F, instead of the partial rotating bodies 32A and 32B, ring band portions 32Db and 32Eb having the same shape as the scale portions 32Ab and 32Bb are provided on the lower surfaces of the hub portions 32Ac and 32Bc. Partial rotating bodies 32D and 32E having a shape may be used. At the boundary portion 33A of the partial rotating bodies 32D and 32E, the scale portions 32Ab and 32Bb may be brought into close contact with each other, a slight gap 33Ab may be provided between the hub portions 32Ac and 32Bc, and the annular band portions 32Db and 32Eb may be brought into close contact with each other. In this example, instead of the partial rotating body 32C, a partial rotating body (not shown) having the same shape as the partial rotating body 32D is used. In this connection method, the scale portions 32Ab and 32Bb can be brought into close contact with each other more stably.

また、図６（Ｇ）に示すように、境界部３３Ａでは、部分回転体３２Ａのハブ部３２Ａｃの形状を凸部３３Ａｃを持つ形状とし、部分回転体３２Ｂのハブ部３２Ｂｃの形状を凸部３３Ａｃに嵌合可能な凹部３３Ａｄを持つ形状としてもよい。この例では、部分回転体３２Ａ，３２Ｂのスケール部３２Ａｂ，３２Ｂｂを密着させ、部分回転体３２Ａのハブ部３２Ａｃの凸部３３Ａｃを部分回転体３２Ｂのハブ部３２Ｂｃの凹部３３Ａｄに嵌合させることで、部分回転体３２Ａ〜３２Ｃを相互に安定に密着させることができる。 Further, as shown in FIG. 6 (G), in the boundary portion 33A, the shape of the hub portion 32Ac of the partial rotating body 32A is a shape having a convex portion 33Ac, and the shape of the hub portion 32Bc of the partial rotating body 32B is a convex portion 33Ac. It may have a shape having a recess 33Ad that can be fitted into the shape. In this example, the scale portions 32Ab and 32Bb of the partial rotating bodies 32A and 32B are brought into close contact with each other, and the convex portion 33Ac of the hub portion 32Ac of the partial rotating body 32A is fitted into the concave portion 33Ad of the hub portion 32Bc of the partial rotating body 32B. , The partial rotating bodies 32A to 32C can be stably brought into close contact with each other.

また、上述の実施形態では２つの受発光部３６Ａ，３６Ｂの検出領域の位置は中心軸ＡＸに対して対称な位置に配置されているが、要は第１の受発光部３６Ａの検出領域が境界部３３Ａ〜３３Ｃ上にあるときに、第２の受発光部３６Ｂの検出領域が境界部３３Ａ〜３３Ｃから外れた位置にあればよい。また、図８（Ａ）、（Ｂ）の変形例のエンコーダ部１２Ａで示すように、２つの受発光部３６Ａ，３６Ｂの検出領域を近接させて配置してもよい。なお、図８（Ａ）及び（Ｂ）において、図２（Ａ）及び（Ｃ）に対応する部分には同一符号を付してその詳細な説明を省略する。この変形例において、シャフト１８の中心軸ＡＸに対する受発光部３６Ａ，３６Ｂの検出領域の開き角θｄは例えば４５°から３０°程度である。 Further, in the above-described embodiment, the positions of the detection regions of the two light receiving and emitting units 36A and 36B are arranged symmetrically with respect to the central axis AX, but the point is that the detection region of the first light receiving and emitting unit 36A is located. When it is on the boundary portions 33A to 33C, the detection region of the second light receiving / receiving unit 36B may be located at a position outside the boundary portions 33A to 33C. Further, as shown by the encoder unit 12A of the modified example of FIGS. 8A and 8B, the detection regions of the two light emitting / receiving units 36A and 36B may be arranged close to each other. In FIGS. 8A and 8B, the parts corresponding to FIGS. 2A and 2C are designated by the same reference numerals, and detailed description thereof will be omitted. In this modification, the opening angle θd of the detection regions of the light emitting and receiving portions 36A and 36B with respect to the central axis AX of the shaft 18 is, for example, about 45 ° to 30 °.

このとき、第１の受発光部３６Ａの検出領域が境界部３３Ａ〜３３Ｃ上にあるときには、第２の受発光部３６Ｂの検出領域は境界部３３Ａ〜３３Ｃから少なくとも３０°程度離れた位置にある。このため、受発光部３６Ａ又は３６Ｂの検出領域は常に境界部３３Ａ〜３３Ｃからずれた位置にあるため、シャフト１８の回転情報を高精度に検出できる。さらに、受発光部３６Ａ，３６Ｂが近接して配置されているため、受発光部３６Ａ，３６Ｂを一つの基板３８Ｃに設けることができ、エンコーダ部１２Ａの構成が簡素化できる。 At this time, when the detection region of the first light receiving / receiving unit 36A is on the boundary portions 33A to 33C, the detection region of the second light receiving / receiving unit 36B is located at a position at least about 30 ° away from the boundary portions 33A to 33C. .. Therefore, since the detection region of the light emitting / receiving unit 36A or 36B is always located at a position deviated from the boundary portions 33A to 33C, the rotation information of the shaft 18 can be detected with high accuracy. Further, since the light emitting / receiving units 36A and 36B are arranged close to each other, the light emitting / receiving units 36A and 36B can be provided on one substrate 38C, and the configuration of the encoder unit 12A can be simplified.

また、上述の実施形態では、位置決めピン５４Ａを用いてシャフト１８と部分回転体３２Ａ（回転体３２）とを位置決めしているが、例えばシャフト１８に設けた凸部に、部分回転体３２Ａの内面に設けた凹部を嵌合させて、シャフト１８と部分回転体３２Ａ（回転体３２）とを位置決めしてもよい。
また、上述の実施形態では、回転体３２を３分割しているが、回転体３２の分割数は任意であり、回転体３２をシャフト１８の円周方向に等角度で、又は非等角度でｎ分割（ｎは２以上の整数）してもよい。Further, in the above-described embodiment, the shaft 18 and the partial rotating body 32A (rotating body 32) are positioned by using the positioning pin 54A. For example, the inner surface of the partial rotating body 32A is formed on the convex portion provided on the shaft 18. The shaft 18 and the partial rotating body 32A (rotating body 32) may be positioned by fitting the concave portion provided in the above.
Further, in the above-described embodiment, the rotating body 32 is divided into three parts, but the number of divisions of the rotating body 32 is arbitrary, and the rotating body 32 is divided into equal angles or non-equal angles in the circumferential direction of the shaft 18. It may be divided into n (n is an integer of 2 or more).

さらに、回転体３２はスケール部３２ｂ及びハブ部３２ｃより構成されているため、インクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａが形成されているスケール部３２ｂを変形させることなく、ハブ部３２ｃにおいて部分回転体３２Ａ〜３２Ｃを互いに安定に連結できる。なお、スケール部３２ｂの高さを高くして、回転体３２をスケール部３２ｂのみから形成してもよい。この場合、分割されたスケール部３２ｂの裏面側に分割されたスケール部を互いに連結する機構を設けてもよい。 Further, since the rotating body 32 is composed of the scale portion 32b and the hub portion 32c, the partial rotating bodies 32A to the hub portion 32c do not deform the scale portion 32b on which the incremental pattern 34I and the absolute pattern 34A are formed. 32C can be stably connected to each other. The height of the scale portion 32b may be increased to form the rotating body 32 only from the scale portion 32b. In this case, a mechanism for connecting the divided scale portions to each other may be provided on the back surface side of the divided scale portion 32b.

また、上述の実施形態では、シャフト１８を囲むように部分回転体３２Ａ〜３２Ｃを相互に連結することで、シャフト１８を締め付けるようにシャフト１８に回転体３２を装着しているため、シャフト１８には特に連結機構を設ける必要がない。なお、例えばシャフト１８に外径が次第に大きくなるテーパー部を形成しておき、一体的に連結した部分回転体３２Ａ〜３２Ｃ（回転体３２）をそのテーパー部で軸方向にずらして、圧入によって回転体３２をシャフト１８に固定してもよい。
さらに、例えばシャフト１８にネジ穴を設けておき、部分回転体３２Ａ〜３２Ｃの少なくとも一つをボルト及びそのネジ穴を用いてシャフト１８に固定してもよい。Further, in the above-described embodiment, since the rotating bodies 32 are attached to the shaft 18 so as to tighten the shaft 18 by connecting the partial rotating bodies 32A to 32C so as to surround the shaft 18, the shaft 18 is attached. Does not need to be provided with a connecting mechanism. For example, a tapered portion whose outer diameter gradually increases is formed on the shaft 18, and the partially connected partial rotating bodies 32A to 32C (rotating body 32) are axially displaced by the tapered portion and rotated by press fitting. The body 32 may be fixed to the shaft 18.
Further, for example, the shaft 18 may be provided with a screw hole, and at least one of the partial rotating bodies 32A to 32C may be fixed to the shaft 18 by using a bolt and the screw hole thereof.

次に、第２の実施形態につき図９（Ａ）から図１３（Ｂ）を参照して説明する。なお、図９（Ａ）から図１１（Ｃ）において、図２（Ａ）から図３（Ａ）に対応する部分には同一符号を付してその詳細な説明を省略する。
図９（Ａ）は、本実施形態に係るシャフト１８の回転情報を検出するためのエンコーダ部１２Ｂの回転体６２、受発光部３６Ａが設けられた基板３８Ａ、及び受発光部３６Ｂが設けられた基板３８Ｂを示す平面図、図９（Ｂ）は図９（Ａ）の側面図である。図９（Ａ）、（Ｂ）において、回転体６２は、アブソリュートパターン３４Ａ及びインクリメンタルパターン３４Ｉが形成された表面６２ａを持つ輪帯状のスケール部６２ｂと、スケール部６２ｂの表面６２ａと反対側の面に設けられたスケール部６２ｂよりも外径の小さい円筒状のハブ部６２ｃとを一体的に連結したほぼ軸対称の形状である。Next, the second embodiment will be described with reference to FIGS. 9 (A) to 13 (B). In FIGS. 9 (A) to 11 (C), the parts corresponding to FIGS. 2 (A) to 3 (A) are designated by the same reference numerals, and detailed description thereof will be omitted.
FIG. 9A shows a rotating body 62 of the encoder unit 12B for detecting the rotation information of the shaft 18 according to the present embodiment, a substrate 38A provided with the light emitting / receiving unit 36A, and a light emitting / receiving unit 36B. A plan view showing the substrate 38B, FIG. 9B is a side view of FIG. 9A. In FIGS. 9A and 9B, the rotating body 62 has a ring-shaped scale portion 62b having a surface 62a on which the absolute pattern 34A and the incremental pattern 34I are formed, and a surface of the scale portion 62b opposite to the surface 62a. It has a substantially axisymmetric shape in which a cylindrical hub portion 62c having an outer diameter smaller than that of the scale portion 62b provided in the above is integrally connected.

また、回転体６２は、シャフト１８の円周方向（θ方向）に等角度（ここでは１８０°）の実質的に同じ形状の２つの部分回転体６２Ａ，６２ＢをボルトＢ４，Ｂ５によって連結したものである。言い替えると、回転体６２は第１、第２の部分回転体６２Ａ，６２Ｂに分割されている（分離可能である）。部分回転体６２Ａ，６２Ｂの連結部を以下では境界部６３Ａ，６３Ｂという。なお、部分回転体６２Ａ，６２Ｂの角度（中心軸ＡＸに関する開き角）は互いに同じである必要はなく、例えば数°〜数１０°の範囲で異なっていてもよい。 Further, the rotating body 62 is formed by connecting two partial rotating bodies 62A and 62B having substantially the same shape at equal angles (180 ° in this case) in the circumferential direction (θ direction) of the shaft 18 by bolts B4 and B5. Is. In other words, the rotating body 62 is divided into first and second partial rotating bodies 62A and 62B (separable). The connecting portions of the partial rotating bodies 62A and 62B are hereinafter referred to as boundary portions 63A and 63B. The angles of the partial rotating bodies 62A and 62B (opening angles with respect to the central axis AX) do not have to be the same, and may be different, for example, in the range of several ° to several tens of °.

本実施形態において、第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩは、第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩと中心軸ＡＸに関して対称な位置に対して、反時計回り（時計回りでもよい）に例えば３０°程度ずれた位置に配置されている。言い替えると、検出領域３６ＡＡ，３６ＡＩと検出領域３６ＢＡ，３６ＢＩとは中心軸ＡＸに関して非対称な位置に配置されている。また、回転体６２の境界部６３Ａ，６３Ｂは１８０°間隔で（中心軸ＡＸに関して対称に）配置されているため、一方の境界部６３Ａが第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩ内に位置しているときには、他方の境界部６３Ｂは第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩから３０°程度離れた位置にある。逆に、第２の受発光部３６Ｂの検出領域３６ＢＡ及び３６ＢＩが境界部６３Ａ，６３Ｂ上にあるときには、第１の受発光部３６Ａの検出領域３６ＡＡ及び３６ＡＩは境界部６３Ａ，６３Ｂから３０°程度離れた位置にある。このため、少なくとも第１又は第２の受発光部３６Ａ又は３６Ｂは常に境界部６３Ａ，６３Ｂからずれた位置にあるインクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａからの反射光を受光でき、シャフト１８の回転情報を常に高精度に検出できる。 In the present embodiment, the detection regions 36BA and 36BI of the second light receiving / receiving unit 36B are counterclockwise (clockwise) with respect to a position symmetrical with respect to the detection regions 36AA and 36AI of the first light receiving / emitting unit 36A with respect to the central axis AX. It may be rotated), for example, it is arranged at a position shifted by about 30 °. In other words, the detection areas 36AA and 36AI and the detection areas 36BA and 36BI are arranged at asymmetric positions with respect to the central axis AX. Further, since the boundary portions 63A and 63B of the rotating body 62 are arranged at 180 ° intervals (symmetrically with respect to the central axis AX), one of the boundary portions 63A is within the detection regions 36AA and 36AI of the first light receiving / receiving unit 36A. The other boundary portion 63B is located at a position about 30 ° away from the detection regions 36BA and 36BI of the second light receiving / receiving unit 36B. On the contrary, when the detection regions 36BA and 36BI of the second light receiving / receiving unit 36B are on the boundary portions 63A and 63B, the detection regions 36AA and 36AI of the first light receiving / receiving unit 36A are about 30 ° from the boundary portions 63A and 63B. It is in a distant position. Therefore, at least the first or second light receiving / receiving unit 36A or 36B can always receive the reflected light from the incremental pattern 34I and the absolute pattern 34A located at positions deviated from the boundary portions 63A and 63B, and can receive the rotation information of the shaft 18. It can always be detected with high accuracy.

図１１（Ａ）は回転体６２を２つの部分回転体６２Ａ，６２Ｂに分解（分離）した分解斜視図である。図１１（Ａ）において、部分回転体６２Ａはアブソリュートパターン３４Ａの一部のパターン３４Ａｄ及びインクリメンタルパターン３４Ｉの一部のパターン３４Ｉｄが形成された表面６２Ａａを持つ扇形のスケール部６２Ａｂと、スケール部６２Ａｂの表面６２Ａａと反対側の面に連結されたハブ部６２Ａｃとを有する。また、部分回転体６２Ｂは、アブソリュートパターン３４Ａの一部のパターン３４Ａｅ及びインクリメンタルパターン３４Ｉの一部のパターン３４Ｉｅが形成された表面６２Ｂａを持つ扇形のスケール部６２Ｂｂと、スケール部６２Ｂｂの表面６２Ｂａと反対側の面に連結されたハブ部６２Ｂｃとを有する。なお、スケール部６２Ａｂ，６２Ｂｂとハブ部６２Ａｃ，６２Ｂｃとは、一体的に形成されていてもよい。ハブ部６２Ａｃ，６２Ｂｃは、スケール部６２Ａｂ，６２Ｂｂよりも半径が小さい扇形の断面形状を持ち、高さがスケール部６２Ａｂ，６２Ｂｂよりも高い形状である。 FIG. 11A is an exploded perspective view of the rotating body 62 disassembled (separated) into two partial rotating bodies 62A and 62B. In FIG. 11A, the partial rotating body 62A has a fan-shaped scale portion 62Ab having a surface 62Aa on which a part pattern 34Ad of the absolute pattern 34A and a part pattern 34Id of the incremental pattern 34I are formed, and a scale portion 62Ab. It has a hub portion 62Ac connected to a surface opposite to the surface 62Aa. Further, the partial rotating body 62B is opposite to the fan-shaped scale portion 62Bb having a surface 62Ba on which a part of the pattern 34Ae of the absolute pattern 34A and a part of the pattern 34Ie of the incremental pattern 34I are formed, and the surface 62Ba of the scale portion 62Bb. It has a hub portion 62Bc connected to a side surface. The scale portions 62Ab and 62Bb and the hub portions 62Ac and 62Bc may be integrally formed. The hub portions 62Ac and 62Bc have a fan-shaped cross-sectional shape having a smaller radius than the scale portions 62Ab and 62Bb, and the height is higher than that of the scale portions 62Ab and 62Bb.

また、一例として、第１の部分回転体６２Ａのハブ部６２Ａｃの周側面の中央部に、シャフト１８の中心軸ＡＸから半径方向に平行に（外周面から内周面に向かうように）、円形の貫通穴６２Ａｄが形成され、シャフト１８の周側面の対応する位置にも円形の貫通穴１８ｂ（図９（Ａ）参照）が形成されている。貫通穴６２Ａｄ及び１８ｂを通るように、位置決めピン５４Ａを差し込むことで、第１の部分回転体６２Ａとシャフト１８との円周方向及び軸方向の位置決めを行うことができる。 Further, as an example, a circle is formed at the center of the peripheral side surface of the hub portion 62Ac of the first partial rotating body 62A in a radial direction parallel to the central axis AX of the shaft 18 (from the outer peripheral surface to the inner peripheral surface). A through hole 62Ad is formed, and a circular through hole 18b (see FIG. 9A) is also formed at a corresponding position on the peripheral side surface of the shaft 18. By inserting the positioning pin 54A so as to pass through the through holes 62Ad and 18b, the first partial rotating body 62A and the shaft 18 can be positioned in the circumferential direction and the axial direction.

また、第２の部分回転体６２Ｂのハブ部６２Ｂｃの側面に設けたピン５４Ｂ，５４Ｃを、第１の部分回転体６２Ａのハブ部６２Ａｃの側面に設けた凹部６２Ａｅ，６２Ａｆに嵌合させて、ボルトＢ４，Ｂ５で部分回転体６２Ｂ，６２Ａを連結することで、部分回転体６２Ａ（シャフト１８）に対して部分回転体６２Ｂを位置決めできる。そして、シャフト１８が無い状態で、ボルトＢ４，Ｂ５を用いて部分回転体６２Ａ，６２Ｂを連結して形成される回転体６２の内径は、シャフト１８の外径よりもわずかに小さく設定されている。このため、部分回転体６２Ａ，６２Ｂでシャフト１８を囲む状態で、ボルトＢ４，Ｂ５を用いて部分回転体６２Ａ，６２Ｂを連結することによって、シャフト１８を締め付けることになり、部分回転体６２Ａ，６２Ｂがシャフト１８に安定に装着される。 Further, the pins 54B and 54C provided on the side surface of the hub portion 62Bc of the second partial rotating body 62B are fitted into the recesses 62Ae and 62Af provided on the side surface of the hub portion 62Ac of the first partial rotating body 62A. By connecting the partial rotating bodies 62B and 62A with the bolts B4 and B5, the partial rotating body 62B can be positioned with respect to the partial rotating body 62A (shaft 18). The inner diameter of the rotating body 62 formed by connecting the partial rotating bodies 62A and 62B using the bolts B4 and B5 without the shaft 18 is set to be slightly smaller than the outer diameter of the shaft 18. .. Therefore, the shaft 18 is tightened by connecting the partial rotating bodies 62A and 62B with the bolts B4 and B5 while the shaft 18 is surrounded by the partial rotating bodies 62A and 62B, and the partial rotating bodies 62A and 62B are tightened. Is stably mounted on the shaft 18.

これ以外のエンコーダ部１２Ｂの構成は第１の実施形態と同様であり、エンコーダ部１２Ｂは図２（Ｃ）の処理装置４０と同じ処理装置（以下、処理装置４０という）を備えている。処理装置４０を用いて、受発光部３６Ａ及び３６Ｂの検出信号（カウンタ４４Ａ及び４４Ｂの出力）を切り替えることによって、第１の実施形態と同様に、第１の受発光部３６Ａ（又は第２の受発光部３６Ｂ）の検出領域を境界部６３Ａ，６３Ｂが通過しても、高精度にシャフト１８の回転情報を求めることができる。 The configuration of the encoder unit 12B other than this is the same as that of the first embodiment, and the encoder unit 12B includes the same processing device (hereinafter, referred to as the processing device 40) as the processing device 40 of FIG. 2C. By switching the detection signals (counters 44A and 44B outputs) of the light emitting / receiving units 36A and 36B using the processing device 40, the first light receiving / emitting unit 36A (or the second light emitting / receiving unit 36A) (or the second Even if the boundary portions 63A and 63B pass through the detection region of the light receiving / receiving unit 36B), the rotation information of the shaft 18 can be obtained with high accuracy.

また、図４（Ｂ）〜（Ｃ）の例で示したように、回転体６２の境界部６３Ａ，６３Ｂをインクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａの反射部又は非反射部とみなすことができる場合には、検出信号のレベルの変化が小さいため、２つ受発光部３６Ａ，３６Ｂの一方を省略して、一つの受発光部３６Ａ（又は３６Ｂ）のみを用いてもよい。この場合にも、シャフト１８の回転情報を高精度に検出できる。 Further, as shown in the examples of FIGS. 4B to 4C, when the boundary portions 63A and 63B of the rotating body 62 can be regarded as the reflective portion or the non-reflective portion of the incremental pattern 34I and the absolute pattern 34A. Since the change in the level of the detection signal is small, one of the two light receiving and emitting units 36A and 36B may be omitted and only one light receiving and emitting unit 36A (or 36B) may be used. Also in this case, the rotation information of the shaft 18 can be detected with high accuracy.

なお、上述の実施形態では、シャフト１８に設けた貫通穴１８ｂを用いてシャフト１８と部分回転体６２Ａとの回転方向の位置決めを行っている。これに対して、図１０（Ａ）及び（Ｂ）の変形例のエンコーダ部１２Ｃで示すように、シャフト１８の側面の軸方向の一部に平面状の切り欠き部１８ｃ及び１８ｄ（面取り部）を設けてもよい。一例として、切り欠き部１８ｃ及び１８ｄは中心軸ＡＸに関して対称に、すなわちθ方向に１８０°の間隔で設けられている。また、回転体６２の部分回転体６２Ａ，６２Ｂの内周面には、シャフト１８の切り欠き部１８ｃ及び１８ｄがある部分を収容可能な溝部６２Ａｇ，６２Ｂｇが設けられている。溝部６２Ａｇ，６２Ｂｇは全体として長方形状で、両端部が円弧状である。回転体６２（スケール部６２ｂ及びハブ部６２ｃ）の軸方向の高さは、切り欠き部１８ｃ及び１８ｄの軸方向の幅よりもわずかに短く設定されている。 In the above-described embodiment, the shaft 18 and the partial rotating body 62A are positioned in the rotational direction by using the through holes 18b provided in the shaft 18. On the other hand, as shown by the encoder portion 12C of the modified example of FIGS. 10A and 10B, planar notches 18c and 18d (chamfered portions) are partially formed on the side surface of the shaft 18 in the axial direction. May be provided. As an example, the notches 18c and 18d are provided symmetrically with respect to the central axis AX, that is, at intervals of 180 ° in the θ direction. Further, on the inner peripheral surfaces of the partial rotating bodies 62A and 62B of the rotating body 62, groove portions 62Ag and 62Bg capable of accommodating the cutout portions 18c and 18d of the shaft 18 are provided. The grooves 62Ag and 62Bg are rectangular as a whole, and both ends are arcuate. The axial height of the rotating body 62 (scale portion 62b and hub portion 62c) is set to be slightly shorter than the axial width of the cutout portions 18c and 18d.

この他の構成は図９（Ａ）及び（Ｂ）の実施形態と同様である。図１０（Ａ）のエンコーダ部１２Ｃにおいて、切り欠き部１８ｃ及び１８ｄを挟むように部分回転体６２Ａ，６２Ｂを取り付け、ボルトＢ４，Ｂ５を用いて部分回転体６２Ａ，６２Ｂを連結することによって、シャフト１８の円周方向（回転方向）及び軸方向に対して位置決めした状態で、シャフト１８の周側面に部分回転体６２Ａ，６２Ｂ（回転体６２）を安定に装着できる。このため、エンコーダ部１２Ｃの信頼性が向上する。 Other configurations are the same as those of the embodiments shown in FIGS. 9A and 9B. In the encoder portion 12C of FIG. 10A, the partial rotating bodies 62A and 62B are attached so as to sandwich the notched portions 18c and 18d, and the partial rotating bodies 62A and 62B are connected by using the bolts B4 and B5 to connect the shaft. The partial rotating bodies 62A and 62B (rotating bodies 62) can be stably mounted on the peripheral side surfaces of the shaft 18 in a state of being positioned with respect to the circumferential direction (rotation direction) and the axial direction of the shaft 18. Therefore, the reliability of the encoder unit 12C is improved.

なお、エンコーダ部１２Ｃにおいては、部分回転体６２Ａ，６２Ｂの境界部６３Ａ，６３Ｂは、中心軸ＡＸを通る直線上にある必要はなく、境界部６３Ａ，６３Ｂは、例えば中心軸ＡＸに対して所定量だけ位置ずれした点を通る直線上（図１０（Ａ）の境界部６３Ａ，６３Ｂを例えば上下に平行移動した位置）に配置されていてもよい。さらに、境界部６３Ａ，６３Ｂのθ方向の角度を１８０°と異なる角度にすることも可能であり、部分回転体６２Ａ，６２Ｂの製造が容易である。
また、エンコーダ部１２Ｃにおいて、シャフト１８の切り欠き部１８ｃ，１８ｄの角度間隔は１８０°と異なる任意の角度に設定することができる。さらに、エンコーダ部１２Ｃではシャフト１８に１箇所の切り欠き部１８ｃを設けるのみでもよく、シャフト１８に３箇所以上の切り欠き部を設けてもよい。これらの場合、回転体６２の内面にはそれぞれ１箇所及び３箇所以上の平坦部を設ければよい。In the encoder unit 12C, the boundary portions 63A and 63B of the partial rotating bodies 62A and 62B do not have to be on a straight line passing through the central axis AX, and the boundary portions 63A and 63B are located, for example, with respect to the central axis AX. It may be arranged on a straight line passing through a point displaced by a fixed amount (for example, a position where the boundary portions 63A and 63B in FIG. 10A are translated vertically). Further, the angle of the boundary portions 63A and 63B in the θ direction can be set to an angle different from 180 °, and the partial rotating bodies 62A and 62B can be easily manufactured.
Further, in the encoder unit 12C, the angle interval between the cutout portions 18c and 18d of the shaft 18 can be set to an arbitrary angle different from 180 °. Further, in the encoder unit 12C, the shaft 18 may be provided with only one notch portion 18c, or the shaft 18 may be provided with three or more notch portions. In these cases, the inner surface of the rotating body 62 may be provided with one flat portion and three or more flat portions, respectively.

次に、図１２のフローチャートを参照して上述の実施形態のエンコーダ部１２Ｂの組立方法の一例につき説明する。この場合、エンコーダ部１２Ｂの回転体６２は、図１に示すように、一端部側にシャフト１８の断面形状よりも大きいステアリングホイール１４が取り付けられ、他端部側にシャフト１８の断面形状よりも大きいアクチュエータ１６が装着されたシャフト１８の中央部分の周側面に取り付けられるものとする。図１２のステップ１０２において、図９（Ａ）及び（Ｂ）の複数（ここでは２つ）の部分回転体６２Ａ，６２Ｂ、及び基板３８Ａ，３８Ｂに装着された受発光部３６Ａ，３６Ｂ等を準備する。まず、２つの部分回転体６２Ａ，６２Ｂを一体化した形状の回転体の原型３２Ｍ（図６（Ａ）参照）を製造し、原型３２Ｍの表面にアブソリュートパターン３４Ａ及びインクリメンタルパターン３４Ｉを形成し、例えばワイヤカット放電加工機を用いて、回転体の原型３２Ｍを２箇所の境界部６３Ａ，６３Ｂに対応する位置で切断する。この後、切断で形成された２つの部分回転体に図１１（Ａ）の貫通穴６２Ａｄ等を形成することで、部分回転体６２Ａ，６２Ｂが製造できる。なお、部分回転体６２Ａ，６２Ｂを互いに別の部材から形成してもよい。 Next, an example of the method of assembling the encoder unit 12B of the above-described embodiment will be described with reference to the flowchart of FIG. In this case, as shown in FIG. 1, the rotating body 62 of the encoder portion 12B has a steering wheel 14 attached to one end side having a size larger than the cross-sectional shape of the shaft 18, and the other end side having a steering wheel 14 larger than the cross-sectional shape of the shaft 18. It is assumed that the large actuator 16 is attached to the peripheral side surface of the central portion of the shaft 18 to which the large actuator 16 is mounted. In step 102 of FIG. 12, a plurality of (here, two) partial rotating bodies 62A and 62B of FIGS. 9A and 9B, and light emitting and receiving units 36A and 36B mounted on the substrates 38A and 38B are prepared. To do. First, a prototype 32M (see FIG. 6A) of a rotating body having a shape in which two partial rotating bodies 62A and 62B are integrated is manufactured, and an absolute pattern 34A and an incremental pattern 34I are formed on the surface of the prototype 32M, for example. Using a wire-cut electric discharge machine, the prototype 32M of the rotating body is cut at the positions corresponding to the two boundary portions 63A and 63B. After that, the partial rotating bodies 62A and 62B can be manufactured by forming the through holes 62Ad and the like shown in FIG. 11A in the two partial rotating bodies formed by cutting. The partial rotating bodies 62A and 62B may be formed from members different from each other.

次のステップ１０４において、２つの部分回転体６２Ａ，６２Ｂをシャフト１８の側面方向側からシャフト１８の周側面に取り付ける。そのため、図１１（Ｂ）に示すように、第１の部分回転体６２Ａの貫通穴６２Ａｄ（図１１（Ａ）参照）及びシャフト１８の周側面の貫通穴１８ｂ（図９（Ａ）参照）に位置決めピン５４Ａを差し込む。さらに、第１の部分回転体６２Ａの凹部６２Ａｅ，６２Ａｆに第２の部分回転体６２Ｂのピン５４Ｂ，５４Ｃを嵌合させて、ボルトＢ４，Ｂ５を用いて部分回転体６２Ａの側面に部分回転体６２Ｂの側面を連結する。これによって、図１１（Ｃ）に示すように、シャフト１８を挟み込むように回転体６２がシャフト１８の周側面に取り付けられる。なお、この後で部分回転体６２Ａから位置決めピン５４Ａを引き抜いてもよい。 In the next step 104, the two partial rotating bodies 62A and 62B are attached to the peripheral side surface of the shaft 18 from the side surface direction side of the shaft 18. Therefore, as shown in FIG. 11B, the through hole 62Ad of the first partial rotating body 62A (see FIG. 11A) and the through hole 18b on the peripheral side surface of the shaft 18 (see FIG. 9A) Insert the positioning pin 54A. Further, the pins 54B and 54C of the second partial rotating body 62B are fitted into the recesses 62Ae and 62Af of the first partial rotating body 62A, and the partial rotating body is mounted on the side surface of the partial rotating body 62A using bolts B4 and B5. Connect the sides of 62B. As a result, as shown in FIG. 11C, the rotating body 62 is attached to the peripheral side surface of the shaft 18 so as to sandwich the shaft 18. After this, the positioning pin 54A may be pulled out from the partial rotating body 62A.

次に、本実施形態では、図１１（Ｄ）に示すように、開き角がほぼ１８０°の２つの扇形の部分（以下、部分組立用工具という）５６Ａ，５６Ｂに分割（分離）されている組立用工具５６（図１３（Ａ）参照）を使用する。部分組立用工具５６Ａ，５６Ｂは、例えば内径がシャフト１８の外径よりもわずかに小さい輪帯状の部材を２分割することによって製造できる。部分組立用工具５６Ａ，５６Ｂは例えば２つのボルトＢ６，Ｂ７によって連結できる。部分組立用工具５６Ａ及び５６Ｂの底面には、それぞれ互いに同じ形状の棒状の第１組の２つの位置決め部材５８Ａ及び５８Ｂが設けられている。さらに、部分組立用工具５６Ｂの底面には、互いに同じ形状の段差を持つ棒状の第２組の２つの位置決め部材６０Ａ，６０Ｂが設けられている。 Next, in the present embodiment, as shown in FIG. 11D, the two fan-shaped portions (hereinafter referred to as partial assembly tools) having an opening angle of approximately 180 ° are divided (separated) into 56A and 56B. An assembly tool 56 (see FIG. 13 (A)) is used. The partial assembly tools 56A and 56B can be manufactured, for example, by dividing a ring-shaped member having an inner diameter slightly smaller than the outer diameter of the shaft 18 into two parts. The partial assembly tools 56A and 56B can be connected by, for example, two bolts B6 and B7. On the bottom surfaces of the partial assembly tools 56A and 56B, two first sets of rod-shaped positioning members 58A and 58B having the same shape are provided, respectively. Further, on the bottom surface of the partial assembly tool 56B, two rod-shaped second sets of positioning members 60A and 60B having steps having the same shape as each other are provided.

なお、部分組立用工具５６Ａの底面に位置決め部材５８Ａを設け、部分組立用工具５６Ｂの底面に位置決め部材５８Ｂを設けたが、部分組立用工具５６Ａ又は部分組立用工具５６Ｂのいずれか一方に、２つの位置決め部材５８Ａ及び５８Ｂを設けてもよい。位置決め部材６０Ａ，６０Ｂの全体の長さは位置決め部材５８Ａ，５８Ｂの長さよりも短く、位置決め部材６０Ａ，６０Ｂの先端部６０Ａａ，６０Ｂａは固定端に比べ細い棒状となっている。 Although the positioning member 58A is provided on the bottom surface of the partial assembly tool 56A and the positioning member 58B is provided on the bottom surface of the partial assembly tool 56B, 2 is provided on either the partial assembly tool 56A or the partial assembly tool 56B. One positioning member 58A and 58B may be provided. The overall length of the positioning members 60A and 60B is shorter than the length of the positioning members 58A and 58B, and the tip portions 60Aa and 60Ba of the positioning members 60A and 60B are rod-shaped as compared with the fixed ends.

次に、ステップ１１２において、図１３（Ａ）に示すように、シャフト１８の回転体６２が取り付けられている位置の上方の周側面に、シャフト１８を挟むように部分組立用工具５６Ａ，５６ＢをボルトＢ６，Ｂ７で連結することによって、組立用工具５６を取り付ける。この際に、ボルトＢ６，Ｂ７の締め付け力を弱くしておき、組立用工具５６をシャフト１８の軸方向に容易に移動できるようにしておく。 Next, in step 112, as shown in FIG. 13A, the partial assembly tools 56A and 56B are placed on the peripheral side surface above the position where the rotating body 62 of the shaft 18 is attached so as to sandwich the shaft 18. The assembly tool 56 is attached by connecting with bolts B6 and B7. At this time, the tightening force of the bolts B6 and B7 is weakened so that the assembly tool 56 can be easily moved in the axial direction of the shaft 18.

そして、ステップ１１４において、組立用工具５６を用いて回転体６２（インクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａ）と受発光部３６Ａ，３６Ｂとの位置合わせを行う。このために、受発光部３６Ａが設けられた基板３８Ａには位置決め部材６０Ａ，６０Ｂの先端部６０Ａａ，６０Ｂａを挿入できる開口３８Ａａ，３８Ａｂが設けられている。なお、説明の便宜上、図１３（Ａ）の基板３８Ａの形状は図９（Ａ）の基板３８Ａの形状と異なっている。組立用工具５６の底面には、位置決め部材６０Ａ，６０Ｂに対して、図９（Ａ）の基板３８Ａ，３８Ｂの開き角と同じ開き角で、位置決め部材６０Ａ，６０Ｂと同じ形状の第３組の２本の位置決め部材（不図示）が設けられている。そして、受発光部３６Ｂが設けられた基板３８Ｂにはその第３組の位置決め部材の先端部を挿入できる開口（不図示）が設けられている。また、基板３８Ａは、ボルトＢ１１を介して中心軸ＡＸに垂直な方向（半径方向）に所定範囲で移動可能に断面がＬ字型の連結部材６４に取り付けられている。連結部材６４は、中心軸ＡＸの軸方向に細長い長穴６４ａ，６４ｂ及びボルトＢ１２を介して、所定範囲で軸方向に移動可能に連結部材６６に取り付けられ、連結部材６６は、シャフト１８を回転可能に支持する車両本体部（支持部）（不図示）に連結されている。 Then, in step 114, the rotating body 62 (incremental pattern 34I and absolute pattern 34A) is aligned with the light emitting / receiving units 36A and 36B using the assembly tool 56. For this purpose, the substrate 38A provided with the light emitting / receiving unit 36A is provided with openings 38Aa and 38Ab into which the tip portions 60Aa and 60Ba of the positioning members 60A and 60B can be inserted. For convenience of explanation, the shape of the substrate 38A in FIG. 13A is different from the shape of the substrate 38A in FIG. 9A. On the bottom surface of the assembly tool 56, there is a third set of the positioning members 60A and 60B having the same opening angle as the opening angles of the substrates 38A and 38B shown in FIG. 9A and the same shape as the positioning members 60A and 60B. Two positioning members (not shown) are provided. The substrate 38B provided with the light emitting / receiving unit 36B is provided with an opening (not shown) into which the tip of the third set of positioning members can be inserted. Further, the substrate 38A is attached to a connecting member 64 having an L-shaped cross section so as to be movable within a predetermined range in a direction (radial direction) perpendicular to the central axis AX via a bolt B11. The connecting member 64 is attached to the connecting member 66 so as to be movable in the axial direction within a predetermined range via elongated holes 64a, 64b and bolts B12 elongated in the axial direction of the central axis AX, and the connecting member 66 rotates the shaft 18. It is connected to a vehicle body (support) (not shown) that supports it as much as possible.

そして、図１３（Ｂ）に示すように、組立用工具５６をシャフト１８の側面に沿って回転体６２の方向に降下させて、組立用工具５６の第２組の位置決め部材６０Ａ，６０Ｂの先端部６０Ａａ，６０Ｂａを基板３８Ａの開口３８Ａａ，３８Ａｂに挿入し、組立用工具５６の第１組の位置決め部材５８Ａ，５８Ｂを回転体６２の表面６２ａに当接させる。さらに、基板３８Ａが位置決め部材６０Ａ，６０Ｂの段差部に突き当たるように基板３８Ａの高さを調整する。これにより、受発光部３６Ａと回転体６２の表面６２ａとの間隔が最適な値になり、受発光部３６Ａとインクリメンタルパターン３４Ｉ及びアブソリュートパターン３４Ａとの位置関係が最適な関係になるように、位置決め部材５８Ａ，５８Ｂ及び６０Ａ，６０Ｂの形状及び位置関係が設定されている。このため、受発光部３６Ａと回転体６２との位置関係が最適な位置関係に設定される。同様に、受発光部３６Ｂと回転体６２との位置関係も最適な位置関係に設定される。 Then, as shown in FIG. 13B, the assembly tool 56 is lowered along the side surface of the shaft 18 in the direction of the rotating body 62, and the tips of the second set of positioning members 60A and 60B of the assembly tool 56 are lowered. The portions 60Aa and 60Ba are inserted into the openings 38Aa and 38Ab of the substrate 38A, and the positioning members 58A and 58B of the first set of the assembly tool 56 are brought into contact with the surface 62a of the rotating body 62. Further, the height of the substrate 38A is adjusted so that the substrate 38A abuts on the stepped portions of the positioning members 60A and 60B. As a result, the distance between the light emitting / receiving unit 36A and the surface 62a of the rotating body 62 becomes an optimum value, and the positional relationship between the light receiving / receiving unit 36A and the incremental pattern 34I and the absolute pattern 34A is optimally positioned. The shapes and positional relationships of the members 58A, 58B and 60A, 60B are set. Therefore, the positional relationship between the light emitting / receiving unit 36A and the rotating body 62 is set to the optimum positional relationship. Similarly, the positional relationship between the light emitting / receiving unit 36B and the rotating body 62 is also set to the optimum positional relationship.

さらに、ステップ１０８において、受発光部３６Ａの基板３８Ａを連結部材６４，６６を介して車両本体部（不図示）に固定し、同様に受発光部３６Ｂの基板３８Ｂを固定する。そして、基板３８Ａ，３８Ｂと処理装置４０とを接続することで、エンコーダ部１２Ｂの組立が完了する。
本実施形態のエンコーダ部１２Ｂによれば、回転体６２はシャフト１８（回転軸）の回転方向に沿って、それぞれアブソリュートパターン３４Ａ及びインクリメンタルパターン３４Ｉの一部が形成された２つの部分回転体６２Ａ，６２Ｂに分割されている（分離可能である）。このため、例えば両端にシャフト１８の外径より大きい部材が装着されたシャフト１８の周側面に回転体６２を取り付ける際には、回転体６２を２つの部分回転体６２Ａ，６２Ｂに分割（分離）してから、部分回転体６２Ａ，６２Ｂをシャフト１８の周側面に取り付ければよい。このため、シャフト１８に対する回転体６２の取り付けが容易である。さらに、例えばエンコーダ部１２Ｂの使用中に、第２の部分回転体６２Ｂの一部が損傷した場合には、シャフト１８から損傷した第２の部分回転体６２Ｂを取り外し、その代わりに新しい第２の部分回転体６２Ｂを取り付ければよい。これによって、使用中に回転体６２の一部が損傷したときに、その損傷した部分を容易に取り替えることができる。また、回転体６２の分割数は２分割と最小であるため、部分回転体６２Ａ，６２Ｂを効率的に製造することができ、シャフト１８への部分回転体６２Ａ，６２Ｂの取り付けも容易である。Further, in step 108, the substrate 38A of the light emitting / receiving unit 36A is fixed to the vehicle body (not shown) via the connecting members 64 and 66, and the substrate 38B of the light emitting / receiving unit 36B is similarly fixed. Then, by connecting the substrates 38A and 38B and the processing device 40, the assembly of the encoder unit 12B is completed.
According to the encoder unit 12B of the present embodiment, the rotating body 62 has two partial rotating bodies 62A, in which a part of the absolute pattern 34A and the incremental pattern 34I are formed along the rotation direction of the shaft 18 (rotating shaft), respectively. It is divided into 62B (separable). Therefore, for example, when the rotating body 62 is attached to the peripheral side surface of the shaft 18 in which a member larger than the outer diameter of the shaft 18 is mounted on both ends, the rotating body 62 is divided (separated) into two partial rotating bodies 62A and 62B. Then, the partial rotating bodies 62A and 62B may be attached to the peripheral side surface of the shaft 18. Therefore, the rotating body 62 can be easily attached to the shaft 18. Further, for example, if a part of the second partial rotating body 62B is damaged while using the encoder unit 12B, the damaged second partial rotating body 62B is removed from the shaft 18 and a new second partial rotating body 62B is replaced. The partial rotating body 62B may be attached. Thereby, when a part of the rotating body 62 is damaged during use, the damaged part can be easily replaced. Further, since the number of divisions of the rotating body 62 is as small as two, the partial rotating bodies 62A and 62B can be efficiently manufactured, and the partial rotating bodies 62A and 62B can be easily attached to the shaft 18.

また、本実施形態のエンコーダ部１２Ｂの組立方法は、回転体６２及び受発光部３６Ａ，３６Ｂ（検出部）の基板３８Ａ，３８Ｂに係合する位置決め部材５８Ａ，５８Ｂ及び６０Ａ，６０Ｂ（係合部）を有するとともに、シャフト１８の回転方向に沿って複数に分割された組立用工具５６（位置決め用工具）をシャフト１８の側面に取り付けるステップ１１２と、組立用工具５６を用いて、複数の部分回転体６２Ａ，６２Ｂと受発光部３６Ａ，３６Ｂとを位置決めするステップ１１４とを有する。このため、組立用工具５６を容易にシャフト１８の側面に装着可能であり、組立用工具５６を用いて回転体６２と受発光部３６Ａ，３６Ｂとの位置合わせを効率的に行うことができる。 Further, in the method of assembling the encoder unit 12B of the present embodiment, the positioning members 58A, 58B and 60A, 60B (engaging portions) that engage with the substrates 38A, 38B of the rotating body 62 and the light emitting / receiving units 36A, 36B (detection unit) ), And a plurality of partial rotations using the step 112 for attaching the assembly tool 56 (positioning tool) divided into a plurality of parts along the rotation direction of the shaft 18 to the side surface of the shaft 18, and the assembly tool 56. It has steps 114 for positioning the bodies 62A and 62B and the light emitting and receiving units 36A and 36B. Therefore, the assembly tool 56 can be easily mounted on the side surface of the shaft 18, and the rotating body 62 and the light emitting and receiving portions 36A and 36B can be efficiently aligned by using the assembly tool 56.

なお、本実施形態の組立用工具５６は２分割されているが、組立用工具５６をｎ分割（ｎは２以上の整数）してもよい。さらに、中心軸ＡＸに対する開き角が例えば１８０°以下の一つの部材（例えば部分組立用工具５６Ｂ）のみを組立用工具として使用してもよい。この場合、その一つの部材を例えばシャフト１８の側面に押し当てて軸方向に移動させながら、回転体６２と受発光部３６Ａ，３６Ｂとの位置合わせを行うようにしてもよい。
また、シャフト１８に対するエンコーダ部１２Ｂの取付位置が予め決められている場合には、シャフト１８の周側面に、円形の貫通穴や、軸方向に細長い貫通穴及び円周方向に細長い貫通穴や、円周方向に形成された所定深さの溝を設け、これら貫通穴や溝に対して、部分組立用工具５６Ａ又は５６Ｂの一方に形成された貫通穴を介して位置決めピンを差し込み、部分組立用工具５６Ａ又は５６Ｂを位置決めすればよい。この位置決めされた部分組立用工具を基準としてエンコーダ部１２Ｂを取り付けることができる。Although the assembly tool 56 of the present embodiment is divided into two, the assembly tool 56 may be divided into n (n is an integer of 2 or more). Further, only one member (for example, the partial assembly tool 56B) having an opening angle of 180 ° or less with respect to the central axis AX may be used as the assembly tool. In this case, the rotating body 62 and the light emitting / receiving units 36A and 36B may be aligned while the one member is pressed against the side surface of the shaft 18 and moved in the axial direction.
When the mounting position of the encoder portion 12B with respect to the shaft 18 is predetermined, a circular through hole, an elongated through hole in the axial direction, and an elongated through hole in the circumferential direction may be formed on the peripheral side surface of the shaft 18. Grooves of a predetermined depth formed in the circumferential direction are provided, and positioning pins are inserted into these through holes and grooves through through holes formed in one of the partial assembly tools 56A or 56B for partial assembly. The tool 56A or 56B may be positioned. The encoder unit 12B can be attached with reference to the positioned partial assembly tool.

また、本実施形態においても、２つの受発光部３６Ａ，３６Ｂを例えば角度間隔が３０°程度になるように近接して配置してもよい。
なお、上述の各実施形態において、回転体３２，６２（ディスク）をシャフト１８（回転軸）から一度取り外すと、回転体３２，６２をシャフト１８に再度取り付けた際に以前と全く同じ条件で取り付けることが困難である恐れがある。つまり、部分回転体３２Ａ〜３２Ｃ（６２Ａ，６２Ｂ）の着脱時のねじ締めによる部分回転体３２Ａ〜３２Ｃ（６２Ａ，６２Ｂ）の歪みの違いによってパターン３４Ａ，３４Ｉの位置に僅かな誤差が生じる恐れがある。例えば、エンコーダ部１２Ａ〜１２Ｃを工作機械に用いた場合などでは、この誤差による検出結果の影響が大きくなる恐れがある。
そのため、その誤差を小さくするために、部分回転体３２Ａ〜３２Ｃ（６２Ａ，６２Ｂ）の再取り付け後に検出結果のキャリブレーションを以下に説明するように行うようにしてもよい。Further, also in the present embodiment, the two light emitting / receiving units 36A and 36B may be arranged close to each other so that the angle interval is, for example, about 30 °.
In each of the above-described embodiments, once the rotating bodies 32 and 62 (disks) are removed from the shaft 18 (rotating shaft), the rotating bodies 32 and 62 are attached under exactly the same conditions as before when the rotating bodies 32 and 62 are reattached to the shaft 18. Can be difficult. That is, there is a possibility that a slight error may occur in the positions of the patterns 34A and 34I due to the difference in distortion of the partial rotating bodies 32A to 32C (62A and 62B) due to screw tightening when the partial rotating bodies 32A to 32C (62A and 62B) are attached and detached. is there. For example, when the encoder units 12A to 12C are used in a machine tool, the influence of the detection result due to this error may be large.
Therefore, in order to reduce the error, the detection result may be calibrated as described below after the partial rotating bodies 32A to 32C (62A, 62B) are reattached.

例えば、図１に示すシャフト１８の端部に基準エンコーダ部（不図示で、基準エンコーダ部の回転体（回転体７２と称する。）は例えば非分割式の一体型である）を設ける。そして、図１の回転体３２をシャフト１８に再度取り付けた後に、基準エンコーダ部の検出結果とエンコーダ部１２の検出結果との差分を補正値としてエンコーダ部１２の処理装置４０又は制御装置２８に記憶し、これ以降は記憶した差分でエンコーダ部１２の出力値を補正してもよい。
また、基準エンコーダを用いない方法として、２つの受発光部３６Ａ，３６Ｂの出力を用いて補正することも可能である。
例えば、図２（Ａ）に示すように、回転体３２が３分割されて受発光部３６Ａ，３６Ｂが１８０°間隔で対向して（中心軸ＡＸに関して対称な位置に）配置される場合は、２つの受発光部３６Ａ，３６Ｂで検出される出力（カウント値）の平均を取ることにより補正する（誤差を減少する）ことができる。For example, a reference encoder unit (not shown, the rotating body (referred to as a rotating body 72) of the reference encoder unit is, for example, a non-divided integrated type) is provided at the end of the shaft 18 shown in FIG. Then, after the rotating body 32 of FIG. 1 is reattached to the shaft 18, the difference between the detection result of the reference encoder unit and the detection result of the encoder unit 12 is stored in the processing device 40 or the control device 28 of the encoder unit 12 as a correction value. After that, the output value of the encoder unit 12 may be corrected by the stored difference.
Further, as a method that does not use the reference encoder, it is also possible to correct by using the outputs of the two light emitting / receiving units 36A and 36B.
For example, as shown in FIG. 2A, when the rotating body 32 is divided into three and the light emitting / receiving units 36A and 36B are arranged so as to face each other at 180 ° intervals (at positions symmetrical with respect to the central axis AX). It can be corrected (error is reduced) by averaging the outputs (count values) detected by the two light emitting / receiving units 36A and 36B.

また、図９（Ａ）に示すように回転体６２が２つの部分回転体６２Ａ，６２Ｂに分割されて受発光部３６Ａ，３６Ｂが対称な位置からずれて配置される場合は、例えばシャフト１８の側面に不図示のミラーを取り付けて、不図示のコリメータでシャフト１８の回転角を実測できるようにしてもよい。そして、一例としてシャフト１８を手動等で回転しながら、所定のサンプリングレートでコリメータで計測されるシャフト１８の回転角と、受発光部３６Ａ，３６Ｂの検出信号から算出される回転角とを取り込み、２つの計測値の差分から計測結果の誤差を求めてもよい。この際に、誤差が所定の許容範囲を超える場合には、回転体３２をシャフト１８から取り外した後、再度シャフト１８に取り付けてもよい。別の方法として、求められた誤差を記憶し、この記憶した誤差で受発光部３６Ａ，３６Ｂの検出信号から算出される回転角を補正してもよい。 Further, as shown in FIG. 9A, when the rotating body 62 is divided into two partial rotating bodies 62A and 62B and the light emitting and receiving portions 36A and 36B are arranged so as to be offset from the symmetrical positions, for example, the shaft 18 A mirror (not shown) may be attached to the side surface so that the rotation angle of the shaft 18 can be actually measured with a collimator (not shown). Then, as an example, while manually rotating the shaft 18, the rotation angle of the shaft 18 measured by the collimator at a predetermined sampling rate and the rotation angle calculated from the detection signals of the light emitting and receiving units 36A and 36B are taken in. The error of the measurement result may be obtained from the difference between the two measurement values. At this time, if the error exceeds a predetermined allowable range, the rotating body 32 may be removed from the shaft 18 and then reattached to the shaft 18. As another method, the obtained error may be stored, and the rotation angle calculated from the detection signals of the light emitting / receiving units 36A and 36B may be corrected by the stored error.

また、上述の各実施形態のエンコーダ部１２〜１２Ｃは、光学式のパターンが形成された回転体３２，６２を分割しているが、磁気センサ用の磁気パターン又は静電容量型のセンサ用の導電パターン等が形成された回転体を複数の部分に分割し、回転軸の側面にその複数の部分を連結して取り付けるようにしてもよい。これらの場合、検出部としては、磁気センサ又は静電容量型のセンサが使用される。 Further, the encoder units 12 to 12C of each of the above-described embodiments divide the rotating bodies 32 and 62 on which the optical pattern is formed, but are used for a magnetic pattern for a magnetic sensor or a capacitance type sensor. The rotating body on which the conductive pattern or the like is formed may be divided into a plurality of parts, and the plurality of parts may be connected and attached to the side surface of the rotating shaft. In these cases, a magnetic sensor or a capacitance type sensor is used as the detection unit.

また、上述の各実施形態のエンコーダ部１２〜１２Ｃは、交流モータ又は直流モータ等を備えた駆動装置にも適用することができ、この駆動装置は、各種工作機械又はロボット装置の駆動機構として使用できる。 Further, the encoder units 12 to 12C of each of the above-described embodiments can be applied to a drive device including an AC motor, a DC motor, or the like, and this drive device is used as a drive mechanism for various machine tools or robot devices. it can.

８…車両用操舵装置、１０…駆動装置、１２，１２Ａ，１２Ｂ…エンコーダ部、１４…ステアリングホイール、１６…アクチュエータ、１８…シャフト、２８…制御装置、３２…回転体、３２Ａ〜３２Ｃ…部分回転体、３３Ａ〜３３Ｃ…境界部、３４Ａ…アブソリュートパターン、３４Ｉ…インクリメンタルパターン、３６Ａ，３６Ｂ…受発光部、３８Ａ〜３８Ｃ…基板、４０…処理装置、５４Ａ〜５４Ｃ…位置決めピン、５６…組立用工具、５６Ａ，５６Ｂ…部分組立用工具、６２…回転体、６２Ａ，６２Ｂ…部分回転体 8 ... Vehicle steering device, 10 ... Drive device, 12, 12A, 12B ... Encoder, 14 ... Steering wheel, 16 ... Actuator, 18 ... Shaft, 28 ... Control device, 32 ... Rotating body, 32A to 32C ... Partial rotation Body, 33A to 33C ... Boundary, 34A ... Absolute pattern, 34I ... Incremental pattern, 36A, 36B ... Light receiving and receiving part, 38A to 38C ... Substrate, 40 ... Processing device, 54A to 54C ... Positioning pin, 56 ... Assembly tool , 56A, 56B ... Partial assembly tool, 62 ... Rotating body, 62A, 62B ... Partial rotating body

Claims (17)

回転軸に取り付けられて、前記回転軸の回転情報を検出するためのパターンが形成された回転体と、
前記回転体の前記パターンを検出する検出部と、
前記検出部の検出結果に基づいて、前記回転軸の前記回転情報を求める演算部と、を備えるエンコーダであって、
前記回転体は、前記回転軸の回転方向に沿って、それぞれ前記パターンの一部が形成された複数のパーツ部に分割されているエンコーダ。A rotating body attached to a rotating shaft and formed with a pattern for detecting rotation information of the rotating shaft.
A detection unit that detects the pattern of the rotating body, and
An encoder including a calculation unit for obtaining the rotation information of the rotation axis based on the detection result of the detection unit.
The rotating body is an encoder that is divided into a plurality of parts having a part of the pattern formed along the rotation direction of the rotating shaft. 前記検出部は、前記パターンを検出する第１検出部と、前記第１検出部に対して前記回転軸の回転方向に所定間隔離して配置される第２検出部とを有し、
前記第２検出部は、前記第１検出部の第１検出領域内に前記回転体の分割位置が含まれているときに、前記パターンを検出可能な第２検出領域を有し、
前記演算部は、前記第１及び第２検出部の検出結果に基づいて、前記回転軸の前記回転角情報を求める請求項１に記載のエンコーダ。The detection unit includes a first detection unit that detects the pattern, and a second detection unit that is disposed with respect to the first detection unit in a predetermined time in the rotation direction of the rotation axis.
The second detection unit has a second detection region capable of detecting the pattern when the division position of the rotating body is included in the first detection region of the first detection unit.
The encoder according to claim 1, wherein the calculation unit obtains the rotation angle information of the rotation axis based on the detection results of the first and second detection units. 前記回転体は、前記回転軸の前記回転方向に沿って等角度で３分割され、
前記第１及び第２検出部は、前記回転軸の回転中心に関して対称な位置に配置されている請求項２に記載のエンコーダ。The rotating body is divided into three at equal angles along the rotation direction of the rotating shaft.
The encoder according to claim 2, wherein the first and second detection units are arranged at positions symmetrical with respect to the rotation center of the rotation axis. 前記回転体は、前記回転軸の前記回転方向に沿って等角度で２分割され、
前記第１及び第２検出部は、前記回転軸の回転中心に関して非対称な位置に配置されている請求項２に記載のエンコーダ。The rotating body is divided into two at equal angles along the rotation direction of the rotating shaft.
The encoder according to claim 2, wherein the first and second detection units are arranged at positions asymmetric with respect to the rotation center of the rotation axis. 前記回転体は、前記回転軸の前記回転方向に沿って等角度で３つのパーツ部に分割され、
前記第１及び第２検出部は、前記パーツ部の開き角より小さい角度間隔で配置されている請求項２に記載のエンコーダ。The rotating body is divided into three parts at equal angles along the rotation direction of the rotating shaft.
The encoder according to claim 2, wherein the first and second detection units are arranged at an angular interval smaller than the opening angle of the parts portion. 前記パターンは、前記回転軸の前記回転方向の絶対位置を示すアブソリュートパターンを有し、
前記演算部は、前記第１及び第２検出部で検出される前記アブソリュートパターンの検出結果、及び予め記憶してある前記回転体の分割位置の情報を用いて、前記第１検出部の検出結果と、前記第２検出部の検出結果とを切り替えて、前記回転軸の前記回転情報を求める請求項２から請求項５のいずれか一項に記載のエンコーダ。The pattern has an absolute pattern indicating an absolute position of the rotation axis in the rotation direction.
The calculation unit uses the detection result of the absolute pattern detected by the first and second detection units and the information of the division position of the rotating body stored in advance, and the detection result of the first detection unit. The encoder according to any one of claims 2 to 5, which switches between the detection result of the second detection unit and the detection result of the second detection unit to obtain the rotation information of the rotation shaft. 前記演算部は、前記第１検出部の検出信号の大きさが所定値よりも小さくなったときに、前記第１検出部の検出結果から前記第２検出部の検出結果に切り替えて前記回転軸の前記回転情報を求める請求項２から請求項５のいずれか一項に記載のエンコーダ。 When the magnitude of the detection signal of the first detection unit becomes smaller than a predetermined value, the calculation unit switches from the detection result of the first detection unit to the detection result of the second detection unit and the rotation shaft. The encoder according to any one of claims 2 to 5, which obtains the rotation information of the above. 複数の前記パーツ部は、それぞれ前記パターンの一部が形成されたスケール部と、前記回転軸に対する固定機構を有するハブ部とを有する請求項１から請求項７のいずれか一項に記載のエンコーダ。 The encoder according to any one of claims 1 to 7, wherein each of the plurality of parts portions has a scale portion on which a part of the pattern is formed and a hub portion having a fixing mechanism with respect to the rotation axis. .. 前記回転体は前記回転軸の回転方向に沿って分割された第１パーツ部及び第２パーツ部を有し、
前記第１パーツ部と前記回転軸とを前記回転方向に沿って位置決めする位置決め部と、
前記第２パーツ部と、前記第１パーツ部及び前記回転軸の少なくとも一方とを連結する連結部とを備える請求項１から請求項８のいずれか一項に記載のエンコーダ。The rotating body has a first part portion and a second part portion divided along the rotation direction of the rotation axis.
A positioning portion that positions the first part portion and the rotation shaft along the rotation direction, and a positioning portion.
The encoder according to any one of claims 1 to 8, further comprising a second part portion, a connecting portion that connects the first part portion and at least one of the rotating shafts. 前記検出部は前記パターンに光を照射して、前記パターンで反射された前記光を検出し、
前記パターンは、前記光を反射する複数の第１反射部と、前記第１反射部より前記光の反射量が少ない複数の非反射部とを有し、
前記回転方向における前記第１反射部の最小の幅をｄとしたとき、
前記回転体の複数の前記パーツ部の少なくとも一つの境界部は、前記回転方向における幅がｄの前記光を反射する第２反射部内に設けられた請求項１から請求項９のいずれか一項に記載のエンコーダ。The detection unit irradiates the pattern with light, detects the light reflected by the pattern, and then detects the light.
The pattern has a plurality of first reflecting portions that reflect the light, and a plurality of non-reflecting portions that reflect the light less than the first reflecting portion.
When the minimum width of the first reflecting portion in the rotation direction is d,
One of claims 1 to 9, wherein at least one boundary portion of the plurality of the parts portions of the rotating body is provided in a second reflecting portion having a width d in the rotation direction and reflects the light. The encoder described in. 前記検出部は前記パターンに光を照射して、前記パターンで反射された前記光を検出し、
前記パターンは、前記光を反射する複数の反射部と、前記反射部より前記光の反射量が少ない複数の第１非反射部とを有し、
前記回転方向における前記第１非反射部の最小の幅をｄ、前記反射部と前記第１非反射部との最小の繰返し周期をＰとしたとき、
前記回転体の複数の前記パーツ部の少なくとも一つの境界部は、前記回転方向における幅が（ｄ＋ｎ・Ｐ）（ｎは０以上の整数）の前記光の反射量が前記反射部より少ない第２非反射部内に設けられた請求項１から請求項９のいずれか一項に記載のエンコーダ。The detection unit irradiates the pattern with light, detects the light reflected by the pattern, and then detects the light.
The pattern has a plurality of reflecting portions that reflect the light, and a plurality of first non-reflecting portions that reflect the light less than the reflecting portion.
When the minimum width of the first non-reflective portion in the rotation direction is d and the minimum repetition period between the reflective portion and the first non-reflective portion is P.
At least one boundary portion of the plurality of the parts portions of the rotating body has a width (d + n · P) (n is an integer of 0 or more) in the rotation direction, and the amount of light reflected is smaller than that of the reflecting portion. The encoder according to any one of claims 1 to 9, which is provided in the non-reflective portion. 前記検出部は前記パターンに光を照射して、前記パターンを介した前記光を検出し、
前記パターンは、前記光を反射する複数の反射部と、前記反射部より前記光の反射量が少ない複数の非反射部とを有し、
前記回転方向における前記非反射部の最小の幅をｄ、前記反射部と前記非反射部との最小の繰返し周期をＰとしたとき、
前記回転体の複数の前記パーツ部の少なくとも一つの境界部に、幅が（ｄ＋ｎ・Ｐ）（ｎは０以上の整数）の隙間が設けられた請求項１から請求項９のいずれか一項に記載のエンコーダ。The detection unit irradiates the pattern with light to detect the light through the pattern.
The pattern has a plurality of reflecting portions that reflect the light, and a plurality of non-reflecting portions that reflect the light less than the reflecting portion.
When the minimum width of the non-reflective portion in the rotation direction is d and the minimum repeating period between the reflective portion and the non-reflective portion is P,
Any one of claims 1 to 9, wherein a gap having a width (d + n · P) (n is an integer of 0 or more) is provided at at least one boundary portion of the plurality of parts of the rotating body. The encoder described in. 前記回転軸は中空部材である請求項１から請求項１２のいずれか一項に記載のエンコーダ。 The encoder according to any one of claims 1 to 12, wherein the rotating shaft is a hollow member. 請求項１から請求項１３のいずれか一項に記載のエンコーダと、
前記回転軸の回転角を制御する回転角制御部と、
前記エンコーダの検出結果を用いて前記回転角制御部を制御する制御部と、を備える駆動装置。The encoder according to any one of claims 1 to 13, and the encoder.
A rotation angle control unit that controls the rotation angle of the rotation axis,
A drive device including a control unit that controls the rotation angle control unit using the detection result of the encoder. 請求項１から請求項１３のいずれか一項に記載のエンコーダの組立方法であって、
複数の前記パーツ部及び前記検出部を準備することと、
前記回転軸に前記回転軸の側面方向側から複数の前記パーツ部を取り付けることと、
複数の前記パーツ部と前記検出部とを位置決めすることと、
前記回転軸を回転可能に支持する支持部に前記検出部を取り付けることと、
を含むエンコーダの組立方法。The method for assembling an encoder according to any one of claims 1 to 13.
Preparing a plurality of the parts and the detection unit, and
By attaching a plurality of the parts to the rotating shaft from the side surface direction of the rotating shaft,
Positioning a plurality of the parts and the detection unit,
Attaching the detection unit to the support unit that rotatably supports the rotation shaft,
How to assemble the encoder including. 複数の前記パーツ部と前記検出部とを位置決めすることは、
前記回転体及び前記検出部に係合する係合部を有するとともに、前記回転軸の前記回転方向に沿って複数に分割された位置決め工具を前前記回転軸の側面に取り付けることと、
前記位置決め工具を用いて、複数の前記パーツ部と前記検出部とを位置決めすることと、を含む請求項１５に記載のエンコーダの組立方法。Positioning the plurality of the parts and the detection unit is not possible.
It has an engaging portion that engages with the rotating body and the detecting portion, and a plurality of positioning tools divided along the rotating direction of the rotating shaft are attached to the side surface of the front rotating shaft.
The method for assembling an encoder according to claim 15, wherein the positioning tool is used to position a plurality of the parts and the detection unit. 回転軸と、
前記回転軸の一端部に設けられた操作部と、
前記回転軸の他端部側に連結されたアクチュエータと、
前記アクチュエータによって駆動される１対の駆動輪と、
前記回転軸の回転情報を検出するエンコーダと、
前記エンコーダの検出結果に基づいて前記アクチュエータの動作を制御する制御装置と、を備える車両用操舵装置であって、
前記エンコーダは、
前記回転軸に取り付けられて、前記回転軸の回転情報を検出するためのパターンが形成された回転体と、
前記回転体の前記パターンを検出する検出部と、
前記検出部の検出結果に基づいて、前記回転軸の前記回転情報を求める演算部と、を有し、
前記回転体は、前記回転軸の回転方向に沿って、それぞれ前記パターンの一部が形成された複数のパーツ部に分割されている
車両用操舵装置。Rotation axis and
An operation unit provided at one end of the rotating shaft and
With the actuator connected to the other end side of the rotating shaft,
A pair of drive wheels driven by the actuator and
An encoder that detects rotation information of the rotation axis and
A vehicle steering device including a control device that controls the operation of the actuator based on the detection result of the encoder.
The encoder
A rotating body attached to the rotating shaft and formed with a pattern for detecting rotation information of the rotating shaft.
A detection unit that detects the pattern of the rotating body, and
It has a calculation unit for obtaining the rotation information of the rotation axis based on the detection result of the detection unit.
The rotating body is a vehicle steering device that is divided into a plurality of parts having a part of the pattern formed along the rotation direction of the rotating shaft.
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