TW202035943A - Rotary angle detecting device - Google Patents

Abstract

A rotary angle detecting device is provided, including a fixed portion, a rotary module, a sensing module, and a permeability member. The rotary module includes a rotary shaft pivotally connected to the fixed portion, and can rotate around a main axis relative to the fixed portion. The sensing module is used to detect the motion state of the rotary shaft relative to the fixed portion. The sensing module includes a magnetic force sensor and a magnetic member corresponding to the magnetic force sensor. The magnetic member can rotate relative to the magnetic force sensor. The permeability is disposed between the sensing module and the rotary module.

Description

Rotation angle sensing device

The invention relates to a rotation angle sensing device. More specifically, the present invention relates to a rotation angle sensing device with a magnetic force sensor.

An encoder is an electromechanical device that converts a rotational position or amount of rotation into an analog or digital signal. Rotary encoders are used in many occasions that require precise rotation position and speed, such as industrial control, robotics, photographic lenses, computer input devices (such as mice and trackballs), etc.

A common encoder uses optical measurement, for example, a light source and a light sensor are arranged on both sides of a turntable with holes. However, when the encoder needs to be miniaturized, this method will not be easy to install into the encoder, and the accuracy of measurement may be reduced. Therefore, how to solve the aforementioned problems has become an important issue.

In order to solve the above-mentioned conventional problems, the present invention provides a rotation angle sensing device, which includes a fixed part, a rotating module, a sensing module, and a magnetic element. The rotating module includes a rotating shaft, which is pivotally connected to the fixed part, and the rotating module can rotate around a main shaft relative to the fixed part. The sensing module is used to sense the movement of the rotating shaft relative to the fixed part, and includes a magnetic sensor and a magnetic element. The magnetic element corresponds to the magnetic sensor, and the magnetic element can rotate relative to the magnetic sensor. The magnetically conductive element is arranged between the sensing module and the rotating module.

In some embodiments of the present invention, the rotating module further includes a bearing element disposed on the fixing part, and the rotating shaft is pivotally connected to the fixing part by the bearing element. The bearing components can be made of weakly permeable metal or non-metallic materials. The magnetically conductive element may be arranged between the bearing element and the magnetic force sensor.

In some embodiments of the present invention, the magnetic element is disposed between the magnetic sensor and the magnetic conductive element. The rotating module further includes a magnetic element fixing seat fixed on the rotating shaft, and the magnetic element is arranged on the magnetic element fixing seat. When viewed in a direction perpendicular to the main axis, the magnetic element fixing seat and the magnetic element at least partially overlap. In some embodiments, the magnetically conductive element and the magnetic element fixing seat can be integrally formed.

In some embodiments of the present invention, the rotation angle sensing device further includes another magnetically conductive element surrounding the magnetic element. The direction of the magnetic field lines inside the magnetic element is perpendicular to the main axis. In some embodiments, the magnetic element is a multi-pole magnet, and the direction of the magnetic field lines inside the magnetic element is parallel to the main axis.

In some embodiments of the present invention, the rotation angle sensing device further includes a circuit component and a plurality of supporting elements. The circuit assembly includes a plurality of connecting parts, and the supporting element corresponds to the aforementioned connecting parts. The supporting element can connect the fixing part and the circuit assembly. Wherein, the line between the aforementioned connecting portions can form a closed figure, and the closed figure is non-rotationally symmetric with respect to the main axis.

In some embodiments of the present invention, the circuit assembly includes a circuit board, a connection terminal, and a plurality of electronic components. The circuit board has a cutting part, a plurality of test circuits, and a plurality of grooves, wherein at least one test circuit is adjacent to the cutting part. An electrical connection port of the connection terminal faces the main shaft, and a groove is formed on the edge of the circuit board. The magnetic sensor and one of the electronic components are arranged on the circuit board, and the circuit board is arranged between the magnetic sensor and the electronic component. The magnetic sensor and another electronic component are arranged on the same surface of the circuit board. When viewed along the main axis, the electronic component and the magnetic element are not overlapped, and when viewed in a direction perpendicular to the main axis, the electronic element and the magnetic element are at least partially overlapping. Among them, the thickness of the aforementioned electronic components is greater than the thickness of the magnetic sensor.

In some embodiments of the present invention, the rotating shaft further includes a recessed portion, and the magnetic element is at least partially disposed in the recessed portion. The shaft can be made of weakly permeable metal or non-metal material. In some embodiments, the rotating shaft is also made of metal, and the magnetic element is disposed between the magnetic element and the rotating shaft.

The following describes the rotation angle sensing device of the embodiment of the present invention. However, it can be easily understood that the embodiments of the present invention provide many suitable inventive concepts and can be implemented in a wide variety of specific backgrounds. The specific embodiments disclosed are only used to illustrate the use of the present invention in a specific way, and are not used to limit the scope of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meanings commonly understood by the general artisans to whom the disclosure belongs. It is understandable that these terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with the relevant technology and the background or context of this disclosure, and not in an idealized or overly formal way Interpretation, unless specifically defined here.

Fig. 1 is a schematic diagram showing a rotation angle sensing device P according to an embodiment of the present invention, and Figs. 2 and 3 are respectively an exploded view and a cross-sectional view of the aforementioned rotation angle sensing device P. Please refer to Figures 1 to 3 together. The rotation angle sensing device P mainly includes a fixed part 100, a rotating module 200, a circuit assembly 300, a plurality of supporting elements 400, a plurality of locking elements 500, and a sensing Module 600, and a magnetically conductive element 700.

The fixing part 100 includes a cylindrical body 110, and the rotating module 200 may include at least one bearing element 210, a rotating shaft 220, and a magnetic element fixing seat 230. A hole 111 is formed in the center of the main body 110 of the fixing part 100, and the bearing element 210 of the rotating module 200 can be received in the hole 111 and fixed on the main body 110. The rotating shaft 220 can pass through the hole in the middle of the bearing element 210 so as to be pivotally connected to the main body 110 of the fixing portion 100 through the bearing element 210.

In this embodiment, the rotating module 200 includes two bearing elements 210, which are disposed in the through hole 111 of the body 110 separately from each other, so as to ensure that the rotating shaft 220 extends along a main shaft R to avoid skewing. occur.

When the rotating shaft 220 passes through the bearing element 210 and is pivotally connected to the body 110, its two ends protrude from the opposite surfaces of the body 110, respectively. The magnetic element fixing base 230 can be fixed to one end of the rotating shaft 220, and the other end of the rotating shaft 220 can be connected to a motor (not shown). In this way, when the motor drives the rotating shaft 220 to rotate relative to the fixing part 100 around the main shaft R, the magnetic element fixing seat 230 is also driven to rotate relative to the fixing part 100 at the same time.

As shown in Figure 4, the magnetic element holder 230 has a bowl-shaped structure with a bottom plate 231 and a side wall 232. The side wall 232 surrounds the bottom plate 231 and extends in a direction away from the body 110, so it can be formed A housing space. In this embodiment, the bottom plate 231 has a circular cross-section, and the aforementioned rotating shaft 220 is connected to the center of the bottom plate 231 of the magnetic element fixing base 230, so when the magnetic element fixing base 230 is driven, it will rotate around the aforementioned spindle R . In addition, a glue groove 233 can be formed on the bottom plate 231.

As shown in FIGS. 5A and 5B, the circuit assembly 300 may include a circuit board 310, a plurality of electronic components 320, 330, at least one test circuit 340, and at least one connection terminal 350. A plurality of grooves 311 are formed on the edge of the circuit board 310 to be combined with a fixture during assembly, transfer, and testing. The circuit board 310 is further formed with a plurality of connecting portions 312. When the user wants to connect the circuit board 310 to the main body 110 of the fixing portion 100, the supporting element 400 can correspond to the aforementioned connecting portion 312, and the supporting element 400 can be used to connect the main body 110 And the circuit board 310, and finally the locking element 500 (such as screws, rivets, or bolts) passes through the connecting portion 312 to be combined with the supporting element 400 (as shown in FIG. 3). Thereby, the circuit board 310 can be stably fixed to the body 110.

It should be noted that the connection between the connecting portions 312 can form a closed figure, and the closed figure is non-rotationally symmetric with respect to the main axis R (that is, it cannot be rotated to any angle less than 360 degrees around the main axis R). Overlap with the original pattern) to confirm that the circuit board 310 is in the proper connection position. For example, in this embodiment, the connecting lines between the connecting portions 312 can form an isosceles triangle. In addition, the edge of the circuit board 310 further has at least one cutting portion 313, which facilitates the user to confirm the position of the circuit board 310 during assembly.

The electronic components 320 and 330, the test circuit 340, and the connection terminal 350 can be disposed on the circuit board 310 and can be electrically connected to each other. The electronic components 320 and 330 may include resistors, capacitors, inductors, and/or transformers, for example. The test circuit 340 can be electrically connected to an external probe during testing, and therefore can be disposed adjacent to the edge of the circuit board 310. In this embodiment, the test circuit 340 is adjacent to the aforementioned cutting portion 313. The connection terminal 350 can be electrically connected to an external electronic device (such as a computer) through an external wire, so as to transmit the information detected by the sensing module 600 to the external electronic device. It should be noted that the electrical connection port 351 of the connection terminal 350 can face the main shaft R to avoid damage to the aforementioned external wires due to bending when the rotation angle sensing device P is encapsulated by the housing.

Please return to Figures 1 to 3, the sensing module 600 may include a magnetic element 610 and a magnetic sensor 620. The magnetic element 610 is disposed in the accommodating space of the magnetic element holder 230, and the magnetic sensor 620 It is arranged on the circuit board 310. The magnetic element 610 can be fixed on the magnetic element holder 230 by pasting, for example. It should be noted that since the bottom plate 231 is formed with a glue groove 233, even if the user uses too much glue, the glue can still be filled in the glue groove 233 While maintaining the level of the magnetic element 610.

When viewed in the direction perpendicular to the main axis R, the magnetic element 610 and the side wall 232 of the magnetic element holder 230 overlap, and the position of the magnetic sensor 620 corresponds to the position of the magnetic element 610, which can be used to detect the rotation angle of the magnetic element 610 .

For example, as shown in FIGS. 6A to 6C, the magnetic sensor 620 may be a tunneling magnetoresistance effect sensor (TMR Sensor), including a fixed layer 621, an insulating layer 622, And a free layer 623, wherein the insulating layer 622 is disposed between the fixed layer 621 and the free layer 623.

The fixed layer 621 can be magnetized to generate a fixed magnetic field direction, and the magnetic field direction of the free layer 623 can be changed according to the magnetic field direction of the external environment. When the direction of the magnetic field of the external environment is opposite to the direction of the magnetic field of the pinned layer 621 (Figure 6A), the magnetic sensor 620 has the maximum resistance. When the magnetic field direction of the external environment is different from the magnetic field direction of the pinned layer 621 (Figure 6B, the magnetic force direction is perpendicular to the paper surface), the resistance of the magnetic sensor 620 will decrease. When the direction of the magnetic field of the external environment is the same as that of the fixed layer 621 (Figure 6C), the magnetic sensor 620 has the smallest resistance.

As shown in FIG. 7, in this embodiment, the magnetic pole direction of the magnetic element 610 is perpendicular to the main axis R (that is, the direction of the magnetic field lines inside it is perpendicular to the main axis R). The free layer 623 of the magnetic sensor 620 is affected by the magnetic force of the magnetic element 610 to generate a magnetic field direction F. Therefore, when the motor drives the shaft 220, the magnetic element holder 230, and the magnetic element 610 to rotate around the main shaft R, the magnetic field direction F of the free layer 623 will change (specifically, rotate relative to the main shaft R), thereby magnetic force sensing The device 620 can obtain the rotation angle of the rotating shaft 220, the magnetic element fixing base 230, or the magnetic element 610.

Please refer to FIG. 8. In another embodiment of the present invention, the magnetic element 610 can also be a multi-pole magnet, and the direction of the magnetic field lines inside it will be parallel to the main axis R. This configuration can concentrate areas with strong magnetic force on the magnetic force sensor 620, and at the same time make the overall magnetic field lines more concentrated and not divergent, reducing electromagnetic interference.

In some embodiments, the magnetic sensor 620 may also be a magnetoresistance effect sensor (MR Sensor) or a giant magnetoresistance effect sensor (GMR Sensor).

It should be particularly noted that in the miniaturized rotation angle sensing device P, the magnetic element 610 may be very close to the bearing element 210 (as shown in FIG. 3). In the case where the bearing element 210 contains metal, the bearing element 210 may be magnetized, thereby causing the problem of inaccurate measurement by the magnetic sensor 620.

Therefore, as shown in FIGS. 1 to 3, in this embodiment, the magnetically permeable element 700 can be disposed between the bearing element 210 and the magnetic element 610 to prevent the bearing element 210 from being magnetized. Since the magnetic element 700 rotates with the magnetic element 610 at the same time, even if the magnetic element 700 is magnetized, the measurement of the magnetic sensor 620 will not be inaccurate.

In some embodiments, the bearing element 210 may be a weakly magnetically permeable metal material or a non-metallic material (such as ceramic) to further prevent the bearing element 210 from being magnetized.

In addition, please refer to Fig. 3, since the thickness of the electronic components 320 and 330 in the direction of the main axis R will be greater than the thickness of the magnetic sensor 620, in the miniaturized rotation angle sensing device P, in order to avoid the magnetic component holder 230 and The magnetic element 610 collides with the electronic elements 320 and 330 when rotating, and the electronic elements 320 and 330 can be arranged on the edge of the circuit board 310 or the other surface of the circuit board 310.

In this embodiment, the electronic component 320 and the magnetic sensor 620 are arranged on the same surface of the circuit board 310 and adjacent to the edge of the circuit board 310. When viewed in the direction of the main axis R, the electronic component 320 and the magnetic sensor 620 do not overlap, and when viewed in the direction perpendicular to the main axis R, the electronic component 320 and the magnetic sensor 620 partially overlap. The electronic component 330 and the magnetic sensor 620 are arranged on the opposite side of the circuit board 310 (that is, the circuit board 310 will be located between the electronic component 330 and the magnetic sensor 620), and the thickness of the electronic component 330 is greater than that of the electronic component The thickness of 320.

Please refer to FIG. 9. In another embodiment of the present invention, the rotation angle sensing device P may further include another ring-shaped magnetic permeable element 800 surrounding the aforementioned magnetic element 610. In this way, the magnetic force on the side of the magnetic element 610 can further prevent the measurement accuracy of the magnetic sensor 620 from decreasing.

In some embodiments, the magnetic element fixing base 230 and the magnetically permeable elements 700 and 800 may be integrally formed. In other words, the magnetic element fixing base 230 may be made of a magnetically permeable material.

Please refer to Figure 10, in another embodiment of the present invention, the shaft 220 has a larger size and can have a recess 221, the magnetic element fixing seat 230 can be omitted, and the magnetic element 610 and the magnetic conductive elements 700, 800 can be It is directly disposed in the recess 221 of the rotating shaft 220, and the magnetically conductive elements 700 and 800 can be located between the magnetic element 610 and the rotating shaft 220. In this embodiment, the rotating shaft 220 can be made of metal material, so that the motor can drive the rotating shaft 220 to rotate.

In some embodiments, the rotating shaft 220 may also be made of weakly magnetically permeable metal material or non-metal material (for example, ceramic).

FIG. 11 is a schematic diagram showing the circuit connection of the circuit assembly 300, the magnetic sensor 620, and external components in the foregoing embodiments. As shown in the figure, the external power source W can be electrically connected to the circuit assembly 300 through the connection terminal 350 to supply power to the circuit assembly 300. Wherein, the fuse unit 301 can be located between the processing unit 302 and the external power source W. When an abnormal current flows through the fuse unit 301, the fuse unit 301 can interrupt the electrical connection with the external power source W to protect the circuit assembly 300.

The data detected by the magnetic sensor 620 can be transmitted to the processing unit 302, and the processing unit 302 converts the aforementioned data into a required code (such as a waveform), and finally can be transmitted to the external electronic device E through the connection terminal 350.

In summary, the present invention provides a rotation angle sensing device, which includes a fixed portion, a rotating module, a sensing module, and a magnetically conductive element. The rotating module includes a rotating shaft, which is pivotally connected to the fixed part, and the rotating module can rotate around a main shaft relative to the fixed part. The sensing module is used to sense the movement of the rotating shaft relative to the fixed part, and includes a magnetic sensor and a magnetic element. The magnetic element corresponds to the magnetic sensor, and the magnetic element can rotate relative to the magnetic sensor. The magnetically conductive element is arranged between the sensing module and the rotating module.

Although the embodiments of the present invention and its advantages have been disclosed as above, it should be understood that anyone with ordinary knowledge in the relevant technical field can make changes, substitutions and modifications without departing from the spirit and scope of the present invention. In addition, the scope of protection of the present invention is not limited to the manufacturing processes, machines, manufacturing, material composition, devices, methods, and steps in the specific embodiments described in the specification. Anyone with ordinary knowledge in the technical field can disclose the content from the present invention. It is understood that the current or future developed processes, machines, manufacturing, material composition, devices, methods and steps can be used according to the present invention as long as they can perform substantially the same functions or obtain substantially the same results in the embodiments described herein. Therefore, the protection scope of the present invention includes the above-mentioned manufacturing process, machine, manufacturing, material composition, device, method and step. In addition, each patent application scope constitutes an individual embodiment, and the protection scope of the present invention also includes each patent application scope and a combination of embodiments.

Although the present invention is disclosed in the foregoing several preferred embodiments, they are not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention belongs can make slight changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to those defined by the attached patent application scope. In addition, the scope of each patent application constitutes an independent embodiment, and various combinations of patent scope and embodiments are within the scope of the present invention.

100: fixed part 110: body 111: perforation 200: rotating module 210: bearing element 220: rotating shaft 230: magnetic element fixing seat 231: bottom plate 232: side wall 233: glue tank 300: circuit assembly 301: fuse unit 302: processing unit 310: Circuit board 311: Groove 312: Connection part 313: Cutting part 320: Electronic component 330: Electronic component 340: Test circuit 350: Connection terminal 351: Electrical connection port 400: Support element 500: Locking element 600: Sensing Measuring module 610: magnetic element 620: magnetic sensor 621: fixed layer 622: insulating layer 623: free layer 700: magnetic element 800: magnetic element E: external electronic device F: magnetic field direction P: rotation angle sensing Device R: Spindle W: External power supply

FIG. 1 is a schematic diagram showing a rotation angle sensing device according to an embodiment of the present invention. Figure 2 is an exploded view of the rotation angle sensing device according to an embodiment of the present invention. Fig. 3 is a cross-sectional view of a rotation angle sensing device according to an embodiment of the present invention. Figure 4 is a schematic diagram showing a magnetic element fixing seat in an embodiment of the present invention. FIG. 5A is a schematic diagram showing the circuit components in an embodiment of the present invention. FIG. 5B is a schematic diagram of the circuit component in another perspective of an embodiment of the present invention. FIG. 6A is a schematic diagram showing the direction of the magnetic field of the fixed layer and the free layer of the magnetic sensor in an embodiment of the present invention are opposite. FIG. 6B is a schematic diagram showing the different directions of the magnetic field of the fixed layer and the free layer of the magnetic sensor in an embodiment of the present invention. FIG. 6C is a schematic diagram showing the magnetic field direction of the fixed layer and the free layer in the magnetic sensor in an embodiment of the present invention. Fig. 7 is a schematic diagram showing a magnetic sensor and magnetic element in an embodiment of the present invention. Fig. 8 is a schematic diagram showing a magnetic sensor and magnetic element in another embodiment of the present invention. Fig. 9 is a schematic diagram showing a rotation angle sensing device according to another embodiment of the present invention. FIG. 10 is a schematic diagram showing a rotation angle sensing device according to another embodiment of the present invention. Figure 11 is a schematic diagram showing the circuit connections of circuit components, magnetic sensors, external power supplies, and external electronic devices in some embodiments of the present invention

100: fixed part

110: body

200: Rotating module

220: shaft

230: Magnetic component holder

300: circuit components

400: support element

500: locking element

600: Sensing module

610: Magnetic components

620: Magnetic Sensor

P: Rotation angle sensing device

R: Spindle

Claims (21)

A rotation angle sensing device, comprising: a fixed part; a rotating module, comprising a rotating shaft, wherein the rotating shaft is pivotally connected to the fixed part, and the rotating module can rotate around a main shaft relative to the fixed part; a sensing A module for sensing the movement of the shaft relative to the fixed part, wherein the sensing module includes: a magnetic sensor; and a magnetic element corresponding to the magnetic sensor, and the magnetic element can be relative to the magnetic The sensor rotates; and a magnetic conductive element is arranged between the sensing module and the rotating module. According to the rotation angle sensing device described in claim 1, wherein the rotation module further includes a bearing element disposed on the fixing part, and the rotating shaft is pivotally connected to the fixing part through the bearing element. The rotation angle sensing device described in item 2 of the scope of patent application, wherein the bearing element is made of weakly magnetically conductive metal or non-metal material. The rotation angle sensing device described in item 2 of the scope of patent application, wherein the magnetically permeable element is arranged between the bearing element and the magnetic sensor. In the rotation angle sensing device described in item 1 of the scope of patent application, the magnetic element is arranged between the magnetic sensor and the magnetically permeable element. According to the rotation angle sensing device described in the first item of the scope of patent application, the rotation module further includes a magnetic element fixing base fixed on the rotating shaft, and the magnetic element is arranged on the magnetic element fixing base. The rotation angle sensing device described in item 6 of the scope of patent application, wherein when viewed in a direction perpendicular to the main axis, the magnetic element fixing seat and the magnetic element at least partially overlap. In the rotation angle sensing device described in item 7 of the scope of patent application, the magnetically conductive element and the magnetic element holder are integrally formed. The rotation angle sensing device described in the first item of the scope of patent application, wherein the rotation angle sensing device further includes another magnetically conductive element surrounding the magnetic element. In the rotation angle sensing device described in item 1 of the scope of patent application, the direction of the magnetic field lines inside the magnetic element is perpendicular to the main axis. The rotation angle sensing device according to the first item of the scope of patent application, wherein the magnetic element is a multi-pole magnet, and the direction of the magnetic field lines inside the magnetic element is parallel to the main axis. The rotation angle sensing device as described in claim 1, wherein the rotation angle sensing device further includes: a circuit assembly including a plurality of connecting parts; and a plurality of supporting elements corresponding to the connecting parts, and The fixed part and the circuit component are connected, wherein the connecting lines between the connecting parts can form a closed figure, and the closed figure is non-rotationally symmetric with respect to the main axis. According to the rotation angle sensing device described in claim 12, the circuit assembly includes a circuit board, the circuit board has a cutting portion and a plurality of test circuits, wherein at least one test circuit is adjacent to the cutting portion. According to the rotation angle sensing device described in item 12 of the scope of patent application, the circuit assembly includes a connecting terminal, and an electrical connection port of the connecting terminal faces the main shaft. The rotation angle sensing device according to item 12 of the scope of patent application, wherein the circuit assembly includes a circuit board and at least one electronic component, the magnetic sensor and the electronic component are arranged on the circuit board, and the circuit board It is arranged between the magnetic sensor and the electronic component, wherein the thickness of the electronic component is greater than the thickness of the magnetic sensor. The rotation angle sensing device according to item 12 of the scope of patent application, wherein the circuit assembly includes a circuit board and at least one electronic component, the magnetic sensor and the electronic component are arranged on the same surface of the circuit board, wherein The thickness of the electronic element is greater than the thickness of the magnetic sensor, and when viewed along the main axis, the electronic element and the magnetic element do not overlap. In the rotation angle sensing device described in item 16 of the scope of patent application, when viewed in a direction perpendicular to the main axis, the electronic component and the magnetic component at least partially overlap. According to the rotation angle sensing device described in claim 12, the circuit assembly includes a circuit board, and a plurality of grooves are formed on the edge of the circuit board. In the rotation angle sensing device described in claim 1, wherein the rotating shaft further includes a recessed portion, and the magnetic element is at least partially disposed in the recessed portion. The rotation angle sensing device described in item 19 of the scope of patent application, wherein the rotating shaft is made of weakly magnetically conductive metal or non-metal material. In the rotation angle sensing device described in item 19 of the scope of patent application, the rotating shaft is made of metal, and the magnetic element is disposed between the magnetic element and the rotating shaft.

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