«09906 九、發明說明： 【發明所屬之技街領域】 本發明係關於-種使用在例如多關節機械人之各關節 之旋轉各檢測、汽車之方向盤之位置檢測及無刷DC馬達之 控制的小型磁性編碼器。 【先前技術】 白知之磁性編瑪器係有—種以同轴狀態安裝在馬達本 體之反輸出側之端面者。該磁性編碼器係在馬達轴之基端 外周所固接之圓盤狀的輪轂（b〇ss)，固定有由磁性體所構 成之圓盤狀的背輕（backyGke)，且在該背輛之表面裝設有 圓盤狀之極磁鐵（PQlemagnet)，再且，在向馬達之轴向盘 極磁鐵分離之位置固定有基板。在該基板之與極磁鐵相對 向之位置安裝有隹爾元件（㈣}⑴㈣⑷。為了保護該等 零件在馬達本體固接有蓋套（参考例如專利文獻 (專利文獻1)日本特開平9_3081 71號公報（第3頁，第 • 1圖） 【發明内容】 (發明所欲解決之課題） 前述習知磁性編碼器係在蓋套之侧面設置拉入部，在 =拉入部插人有㈣且將素線連接在基板之構成，但將以 前述方式構成之磁性編碼器設置在會受到外部磁場（來自 ，達之磁性雜訊除外）之影響的環境時，蓋套之拉入部安 裝處的侧面的磁性遮蔽面積會因該引入部而變小，而難以 確保對於霍爾元件的充分遮蔽性。 、 317956 5 •1309906 ，其目的在於提 且可抑制外部磁 本發明係用以解決上述課題而研創者 ，-種儘量使蓋套的磁性遮蔽面積增大， 场對霍1 it件所造叙影響的磁性編碼器 (解決課題之手段） 本發明之磁性編碼器係具有 邱·咭笞忐 邮㉜因接在軸之前端 二:、，處理部’具備檢測出伴隨磁鐵之旋轉所產生之磁 史化的霍爾元件，根據該霍爾元件之檢測演算軸之旋韓 二且根據該旋轉角產生各種信號;複數個電路部，：: :===之各f信號輸出外部;及電源= ' ’、、、σ至廣异處理部及複數個電路部；其中，將 磁鐵及演鼻處理部作為編碼器本太 以與控制側連接之㈣，且在該 ; = = 電路部之中繼部;編碼器本』 ^理、μ處理部之基板；以磁鐵與基板上之渾 之方式，自由旋轉地支持軸的外殼；以覆 且僅使外殼的蓋套；由蓋套及外殼所挾持， 處理部安2 素線拉人m在基板之演算 之_ ^之相反面，且連接有透過素線拉入部而拉入 t电 '，見之素線的連接器； 覆蓋雙 及在使素線拉入部及電纜相互接觸的狀態下 方之外周部並予以保持的保持構件。 (發明之效果） 在本發明中， 殼所挾持之素線拉 由於僅使電纜之素線插通在由蓋套及外 入部，因此可使素線拉入部之形狀變 317956 6 '1309906 扣，而使盍套之素線拉入部 積）儘量增大，並且可抑制外部磁：：（磁性遮蔽面 爾元件所造成之影響。再者 ^來自该挾持面之霍 之間僅為具柔軟性之素線 ”連接益 應力。 u此不會對連接器施加過大之 部，由於料、磁鐵及演算處理部作為編碼器本體 在該電謝；::;1用以與控制側連接之電缓，且 I邱，田, 置，、有锼數個電路部及電源電路部之中繼 口 口此可使編碼器本體部小型化。 、’' 【實施方式】 第1圖係顯示本發明實施形態之磁性編碼 摘外觀圖。第2圖係分解顯示實施 = 部的斜視圖。 貝也办心之編碼态本體 安步2施形態之磁性編碼器係具備：編碼器本體部10; 器本體部10之電紙一端與該電 萝# 方式成形之樹脂構件（未圖 復盍的中繼部30 ;及連接在中繼部30之另—端的 電纜（未圖示）。該電纜係連接在未圖示之控制器。、 體部1 山0係具備：轴U，在前端部形成有凹部 ' —··，具有肷入轴11之凹部11a之例如12kGs 通密度；外殼13，在上部形成有凹部13a，且在内周部朝周方 ㈣轴承13b ’以凹部13a自由旋轉地支持軸11之 :::相基二 于向之1C曰曰片14 (演算處理部）；正型連接器16， 317956 7 1309906 * 安裝在基板15之上面；負型連接器17，可裝卸地連接在正型 連接器16 ;磁性材質之套蓋18，嵌合在外殼13;以及素線拉 入部，由套蓋18及核13所挾持之例如防塵橡膠所構成。藉 由該^成，編碼器本體部1〇之外形尺寸為15麵⑴麵22丽。 前述ic晶片14之中心係位在輛u之中心軸上，且以 該中心為軸在其周圍，以9G度間隔設置有用以檢測伴隨磁 鐵12之旋轉而產生的磁場變化之霍爾元件（未圖示）。芎 W晶片14係根據霍爾元件之檢測演算車由^之旋轉角，且 = : = ( W…的形式輸出該絕對 二揀」轉角貝§f〇’並且產生增量（incremental)信號。 錄相·ν相：二馬達之整流信 號模式設定來進行。…亥專信號之切換係藉由信 有朝板14之上面的公型連接器16係—端面排列 有朝别方犬出之複數個連接 該連接銷之方式，設置未圖不)’且以從四方包圍 之導引部…。在除了套rL端面突出至前方的四角形 的外而，#、从套盍18與外殻w之軸突出面以外 、 也以樹脂之密封材（未圖示）。該穷封材俜Ιϋ 編碼器本體部10套 山封材係猎由從 流入與模具之_、所成^:化具，並使液狀之密封材 中繼部_由= 式所產生者。 ^ ^ 1^ ^ f；€ 2 0 ^ f ^ 與基板之電欖20之中衣的乐1及第2連接器 '以 裝的第3以4連^ /向的#面相互對向之方式安 連接益、安裝在基板之電源電路部、低通 317956 8 1309906 慮波邛、通信介面部、 前述電源電路部 電路…未圖示)所構成。 部專，係利用安裝在與ic m丨及輸出電路 路，由竽其拓$ ^ 日日 相同之基板上的周邊電 田及基板所分離者。前述之电 板連接器（B0ard T r 運接时係由例如L型之 智许士 in Connector )所構成，且在 =二(與電*2。之中心軸正交之方向)排列的;= (未=:’分別插人有複數個端子’且由銲錫所固定 路部係使來自控制器之電源 給至編碼器本體部10 UC晶片14等…化亚供 # # PWM ^ ^ ^ . 乃i4寺的電路，低通濾波部 係使PWMh唬轉換為類比信號者«09906 IX. Description of the invention: [Technical street field to which the invention pertains] The present invention relates to the use of rotation detection of joints of, for example, a multi-joint robot, position detection of a steering wheel of a vehicle, and control of a brushless DC motor Small magnetic encoder. [Prior Art] The magnetic coder of the white body is attached to the end face of the motor body on the opposite side of the output body in a coaxial state. The magnetic encoder is a disk-shaped hub (b〇ss) fixed to the outer periphery of the base end of the motor shaft, and a disk-shaped back light (reverse Gke) composed of a magnetic body is fixed, and the back vehicle is A disc-shaped pole magnet (PQlemagnet) is attached to the surface, and a substrate is fixed at a position where the disc magnet is separated from the axial direction of the motor. A moire element ((4)}(1)(4)(4) is attached to a position of the substrate opposite to the pole magnet. In order to protect the parts, a cover is fixed to the motor body (refer to, for example, Patent Document 1) Japanese Patent Laid-Open Publication No. Hei 9-3081 71 (Page 3, Fig. 1) [Problem to be Solved by the Invention] The conventional magnetic encoder has a pull-in portion provided on the side of the cover, and a (4-) inserted in the pull-in portion. a structure in which the substrate is connected, but the magnetic encoder configured as described above is placed in an environment that is affected by an external magnetic field (except for magnetic noise), and the magnetic shielding of the side of the mounting portion of the cover of the cover is magnetically shielded. The area is reduced by the introduction portion, and it is difficult to ensure sufficient shielding for the Hall element. 317956 5 • 1309906, the purpose of which is to suppress the external magnetic field. A magnetic encoder that increases the magnetic shielding area of the cover as much as possible, and affects the field by the field. (The means for solving the problem) The magnetic encoder of the present invention has Qiu· The post 32 is connected to the front end 2 of the shaft: the processing unit 'has a Hall element that detects the magnetic history generated by the rotation of the magnet, and based on the detection of the axis element Generating various signals according to the rotation angle; a plurality of circuit parts, :: === each f signal output external; and a power supply = ' ', , σ to a wide processing unit and a plurality of circuit parts; wherein the magnet And the nose processing unit is connected to the control side as the encoder (4), and the == circuit unit relay unit; the encoder unit, the μ processing unit substrate; the magnet and the substrate In a sturdy manner, the outer casing of the shaft is freely rotatably supported; the cover of the outer casing is covered and covered; the cover and the outer casing are held by the cover, and the processing portion is pulled on the opposite side of the calculation of the substrate. And a connector that is inserted through the prime wire drawing portion and pulled into the electric power, see the prime wire; and covers the double and the holding member that is held at the outer periphery of the state in which the wire drawing portion and the cable are in contact with each other. Effect of the Invention) In the present invention, the element line held by the shell is pulled by Only the cable of the cable is inserted into the cover and the entrance portion, so that the shape of the pull-in portion of the cable can be changed to 317956 6 '1309906, and the plain line of the sleeve can be increased as much as possible, and can be suppressed. External magnetic:: (The effect of the magnetic shielding surface element. In addition, ^ is only the softness line between the Huo-bearing surface of the holding surface.) This will not impose a large part on the connector. Because the material, magnet, and calculation processing unit are used as the encoder body, the electric power is used to connect with the control side, and Iqi, Tian, set, and several circuit parts and power supply circuits are provided. The relay port of the unit can reduce the size of the main body of the encoder. ′′. [Embodiment] Fig. 1 is a view showing a magnetic coded appearance of an embodiment of the present invention. Figure 2 is an exploded view showing the implementation of the section. The magnetic encoder having the form of the coded body of the body is provided with: an encoder body portion 10; an electric paper end of the body portion 10 and a resin member formed by the electric lens # (not illustrated) a relay unit 30; and a cable (not shown) connected to the other end of the relay unit 30. The cable is connected to a controller (not shown). The body 1 has a shaft U at the front end. A recessed portion is formed, for example, having a through-density of the recessed portion 11a of the shaft 11, for example, a recessed portion 13a is formed in the upper portion, and the inner peripheral portion is freely rotated by the recess 13a toward the circumferential (four) bearing 13b'. Supporting shaft 11::: phase base two-way 1C diaphragm 14 (calculation processing unit); positive connector 16, 317956 7 1309906 * mounted on the upper surface of the substrate 15; negative connector 17, removably It is connected to the positive connector 16; the magnetic material cover 18 is fitted to the outer casing 13; and the plain wire pull-in portion is composed of, for example, dustproof rubber held by the cover 18 and the core 13. The outer shape of the body portion 1 is 15 faces (1) face 22 丽. The center of the aforementioned ic wafer 14 is in the u On the central axis, a Hall element (not shown) for detecting a change in the magnetic field caused by the rotation of the magnet 12 is provided at a distance of 9 G degrees around the center axis. The W chip 14 is based on Hall. The detection vehicle of the component is rotated by the angle of ^, and = : = (the form of W ... outputs the absolute two picks) the corner § f 〇 ' and generates an incremental signal. Video phase ν phase: two motors The rectification signal mode is set to be performed. The switching of the signal is set by means of the male connector 16 on the upper surface of the board 14 and the end faces are arranged in a plurality of ways to connect the connecting pins. It is not shown in the figure, and the guide portion is surrounded by four sides. In addition to the square shape protruding from the end face of the sleeve rL to the front, #, from the axis of the sleeve 18 and the outer surface of the outer casing w, also by resin Sealing material (not shown). The poor sealing material 编码 Encoder body part 10 sets of mountain sealing material is hunted from the inflow and the mold, and the liquid is sealed. _ is generated by the formula = ^ ^ ^ ^ ^ f; € 2 0 ^ f ^ with the substrate of the electric 20 The music 1 and the 2nd connector of the clothing are connected to each other by the 3rd, 4th, and ## faces of the device, and are mounted on the power supply circuit of the substrate, and the low-pass 317956 8 1309906 The communication interface portion and the power supply circuit unit circuit (not shown) are configured. The department is designed to be separated from the surrounding fields and substrates on the same substrate as the ic m丨 and the output circuit. The above-mentioned electric board connector (B0ard T r is connected by, for example, an L-type in the connector), and is arranged in the direction of =2 (the direction orthogonal to the central axis of the electric *2); (Not =: 'There are a plurality of terminals inserted separately' and the fixed portion of the solder is used to supply the power from the controller to the encoder body portion 10, the UC chip 14, etc. ... #亚亚^. The circuit of i4 Temple, the low-pass filter system converts PWMh唬 into an analog signal
器接受旋轉角之數位資料的H糸在攸控制 得月之數位貝枓的要求時，將該意旨通知給1C :作”’，1該通知接收來自IC晶片14之數位信號(絕 自二二 串列）至控制器。輪出電路部係將來 1C曰曰片14之追加信號輸出至控制器的電路。 在前述之套蓋18的-侧面，如第2 _示形成有缺口 π 18a，且在外殼13形成有與套蓋1δ之缺口部之 部部分嵌合的突起部13c。素線拉入部19係如第2圖所 不由基部l9a、及從該基部19a突出形成之圓筒部^ 所形成。在基部19a設置有僅使電纜2〇之素線2〇&插通之 直徑的孔（未圖示），且在外周部形成有用以使前述套罢 18之缺口部18a及外殼13之突起部13c嵌入的溝^匕^圓 筒部19c係具有以設置在基部19a之孔之中心軸為中心的 同一直徑之孔19d。 該圓筒部19c之外徑係與電纜之外徑相同。 317956 9 1309906 * 素線拉入部19係使套蓋18之缺口部l8a纟合在設於 基部19a之溝19b，接著將外殼13嵌合在套蓋18而㈣ 持。此時，外殼13突起部13c會進入基部19之下部部分 的溝19b。利用外殼13及套蓋18挾持該素線拉入部以之 河，首先將電麗20穿通於熱收縮f 4〇，並將電規2〇之複 數狀素線20a穿通於素線拉入部19之圓筒部19〇之孔 及㈣他之孔。然後，使素線拉入部19之圓筒部… :雨端面與除了電㈣之素線，料的相部的端面接 觸’且先利用電繞2G所穿通之熱收縮管4G覆蓋該部分， 並利用熱使該熱收縮管4〇收縮，關定 & =覽 =由該熱收縮管4。之收縮，而使電㈣成為連： 素線拉入部19之狀態而保持。 路如此，由於使素線拉入部19之圓筒部W的外形 20之外形相同’因此與使電纜2〇本身插入拉入部的習 ·==，：使素線拉入部19小型化，因此可使編碼 • 1體。”〇本身成為小型’且可儘量使套蓋 =的面積(磁性遮蔽面積)增大，而可抑制二 j來自外挾持元件之霍爾元件料叙影響1且 『入部19與母型連接器17之間僅形成具柔軟性之素^ 2〇a ’因此在公型及母型連 、 力。 Μ連接⑥16、Π不會施加過大之應 【圖式簡單說明】 第1圖係顯示本發明眚竑彡& 剖面的外觀圖。毛月之磁性編瑪器之-部分 317956 10 1309906 第2圖係分解顯示實施形態之編碼器本體部的斜視 圖。 【主要元件符號說明】 10 碼器本體部 11 轴 11a 凹部 12 磁鐵 13 外殼 13a 凹部 13b 密封軸承 14 1C晶片 15 基板 16 正型連接器 16a 導引部 17 負型連接器 18 套蓋 18a 缺口部 19 素線拉入部 19a 基部 19b 溝 19c 圓筒部 19d 20 電纔 20a 素線 30 中繼部 40 熱收縮管 11 317956The H接受 that accepts the digital data of the rotation angle informs the 1C of the intention of the digitized bellows of the month of the month, and the notification is received by the digital signal from the IC chip 14 (except for the second and second The serial circuit is connected to the controller, and the additional circuit of the future 1C chip 14 is output to the controller. The side surface of the cover 18 is formed with a notch π 18a as shown in the second embodiment. A projection 13c that is fitted to a portion of the notch portion of the cover 1δ is formed in the outer casing 13. The prime threaded portion 19 is a base portion 19a that is not protruded from the base portion 19a as shown in Fig. 2, and a cylindrical portion that protrudes from the base portion 19a. A hole (not shown) having a diameter in which only the cable 2〇& is inserted into the base portion 19a is provided, and a notch portion 18a and a casing 13 for forming the sleeve 18 are formed in the outer peripheral portion. The groove portion 19c in which the projection 13c is fitted has a hole 19d of the same diameter centered on the central axis of the hole provided in the base portion 19a. The outer diameter of the cylindrical portion 19c is the same as the outer diameter of the cable. 317956 9 1309906 * The prime wire pull-in portion 19 is such that the notch portion l8a of the cover 18 is coupled to the base portion The groove 19b of 19a is then fitted to the cover 18 to be held (4). At this time, the protrusion 13c of the outer casing 13 enters the groove 19b of the lower portion of the base 19. The outer casing 13 and the cover 18 are used to hold the plain wire. Into the river, first, the electric coil 20 is passed through the heat shrinkage f 4〇, and the complex element line 20a of the electric gauge 2 is passed through the hole of the cylindrical portion 19 of the plain wire drawing portion 19 and (4) the hole of the hole Then, the cylindrical portion of the plain wire drawing portion 19 is: the rain end surface is in contact with the end surface of the phase portion of the material other than the electric wire (4), and the portion is covered by the heat shrinkable tube 4G through which the electric winding 2G is passed. And the heat shrinkable tube 4 is contracted by heat, and the shrinkage is determined by the contraction of the heat shrinkable tube 4, and the electric (four) is connected to the state of the plain line drawing portion 19 to be held. The outer shape of the cylindrical portion W of the plain wire drawing portion 19 is the same as the outer shape of the cylindrical portion W. Therefore, the cable 2 is inserted into the pull-in portion, and the prime wire pulling portion 19 is miniaturized, so that the coding can be performed. Body."〇 itself becomes small' and can maximize the area of the cover = (magnetic shielding area), and can suppress the two j from The Hall element of the outer holding member affects the influence 1 and "only the soft element 2 2a" is formed between the inlet portion 19 and the female connector 17, so that the male and female types are connected. ΜConnection 616, Π does not impose excessive response [Simplified description of the drawings] Fig. 1 shows an appearance of the 眚竑彡& section of the present invention. Part of the magnetic coder of Maoyue 317956 10 1309906 Fig. 2 is a perspective view showing the main body of the encoder of the embodiment. [Main component symbol description] 10 encoder body portion 11 shaft 11a recess 12 magnet 13 housing 13a recess 13b sealed bearing 14 1C wafer 15 substrate 16 positive connector 16a guide portion 17 negative connector 18 cover 18a notch portion 19 Plain wire pull-in portion 19a base portion 19b groove 19c cylindrical portion 19d 20 electric 20a prime wire 30 relay portion 40 heat shrinkable tube 11 317956