WO2002048653A1 - Capteur absolu - Google Patents

Capteur absolu Download PDF

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Publication number
WO2002048653A1
WO2002048653A1 PCT/JP2000/008759 JP0008759W WO0248653A1 WO 2002048653 A1 WO2002048653 A1 WO 2002048653A1 JP 0008759 W JP0008759 W JP 0008759W WO 0248653 A1 WO0248653 A1 WO 0248653A1
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WO
WIPO (PCT)
Prior art keywords
magnetized
pattern
detector
magnetic
absolute
Prior art date
Application number
PCT/JP2000/008759
Other languages
English (en)
Japanese (ja)
Inventor
Yoshinori Itoh
Original Assignee
Harmonic Drive Systems Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP16323199A priority Critical patent/JP4290281B2/ja
Application filed by Harmonic Drive Systems Inc. filed Critical Harmonic Drive Systems Inc.
Priority to PCT/JP2000/008759 priority patent/WO2002048653A1/fr
Publication of WO2002048653A1 publication Critical patent/WO2002048653A1/fr

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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
    • G01D5/249—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 pulse code

Definitions

  • the present invention relates to an absolute sensor capable of detecting a rotational position of a rotating member and a moving position of a linear moving member as absolute positions, and more particularly to a small and high-resolution absolute sensor.
  • the absolute sensors that can detect the rotational position and linear movement position of a member as absolute information are optical type.
  • the detection principle of the optical absolute sensor is based on the method of forming a binary pattern (slit or reflective surface) on the track corresponding to the detection bit, and the light transmitting and shielding parts according to the M-sequence pattern.
  • a method of forming an arrangement pattern of light or an arrangement pattern of a light reflecting portion and a light absorbing portion There is known a method of forming an arrangement pattern of light or an arrangement pattern of a light reflecting portion and a light absorbing portion. In either case, the amount of light transmitted or reflected by the pattern is output as an electrical signal corresponding to the amount of light received from the light receiving element arranged opposite to the track, and the rotation position or straight line is The movement position is detected.
  • Magnetic absolute sensors are mainly of the magnetic pattern type and the resolver type.
  • a magnetic pattern type absolute sensor forms a magnetic pattern 112 on the outer peripheral surface of a magnetic drum 111, and then uses this magnetic pattern as a magnetic detecting element 1 such as an MR element. It is configured to read using 13.
  • a large number of magnetic patterns are formed in the axial direction on the outer peripheral surface of the magnetic drum.
  • the resolver type absolute sensor excites the primary coils 1 2 1 and 1 2 in two phases, the rotation angle of the secondary coil 1 2 3 is 0 Using the fact that the excitation signal whose phase has changed only is induced, the rotation angle 6> is detected by comparing the phases of the excitation signal of the primary coil and the induced voltage signal of the secondary coil.
  • Fig. 12 shows an example of two-phase excitation and one-phase output
  • the rotation angle is detected from the phase difference between the excitation signal and the induced voltage signal.
  • Magnetic absolute sensors are generally more expensive than optical absolute sensors and have disadvantages such as a large size.
  • the former magnetic drum type absolute sensor it is necessary to form a large number of magnetic patterns in the axial direction on the outer peripheral surface of the magnetic drum.
  • the axial dimension (thickness) increases as compared with the case where a large number of optical patterns are formed concentrically on the surface of the plate, and as a result, the inertia of the rotary drum also increases.
  • a molded core needs to be placed as a magnetic material all over the mouth and the stay, so a mold cost is required.
  • the winding cost is high, and a peripheral electronic circuit that converts the phase difference into an angle is required. Therefore, there is a disadvantage that the cost is higher than that of the optical type. Disclosure of the invention
  • An object of the present invention is to provide a magnetic absolute sensor that is small and inexpensive and can be configured in view of the above points.
  • Another object of the present invention is to propose a magnetic absolute encoder that is small and inexpensive and has high resolution. Still another object of the present invention is to propose an inexpensive optical absolute sensor with high resolution.
  • a random number pattern, an M-sequence pattern, and a magnetic pattern defined by other methods are formed on one track, and are arranged corresponding to the tracks.
  • a configuration is adopted in which a detector having a plurality of magnetic detecting elements detects the absolute position information.
  • the present invention provides a detection member including a magnetized member having a magnetized surface magnetized in a predetermined pattern in a circumferential direction or a plane direction, and a plurality of magnetic detecting elements arranged to face the magnetized surface. Based on the detection output of the detector obtained by relatively moving the magnetized member and the detector in the direction of the magnetization pattern of the magnetized surface, based on the detection output of the magnetized member or the detector. Absolute sensor that detects the absolute position of
  • the magnetized pattern is such that N and S poles are magnetized in a predetermined arrangement pattern on 2 n (n: a positive integer) magnetized sections formed at an equal pitch.
  • the detector includes n magnetic detecting elements, and each magnetic detecting element is arranged so as to face a different one of the magnetized sections.
  • the magnetizing pattern is such that, when the magnetizing member and the detector are relatively moved by a magnetizing pitch, the magnetizing arrangement of the n magnetized sections facing the n magnetic detecting elements.
  • the feature is that the pattern is set so as to change every relative movement.
  • the magnetized surface may be a circular outer peripheral surface or a circular inner peripheral surface.
  • the magnetized surface may be an annular end surface having a predetermined width.
  • one annular end surface of the annular member is a magnetized surface on which the magnetized pattern is formed, and the other annular end surface is a magnetized pitch (m: a positive integer) that is m times the magnetized pattern. )
  • the second magnetization in which the N and S poles are formed alternately A second detector having a configuration in which two magnetic detection elements are arranged is disposed so as to face the second magnetized surface, and a detection output of the detector and the second detector is provided. Based on the above, the absolute position on the side of the annular member or the detector can be detected.
  • the magnetized surface is a circular outer circumferential surface or a circular inner circumferential surface
  • one of the outer circumferential surface and the inner circumferential surface of the cylindrical member is a magnetized surface on which the magnetized pattern is formed
  • a second detector having a configuration in which two magnetic detection elements are arranged, and the annular member or the detection is detected based on detection outputs of the detector and the second detector. The absolute position on the side of the container can be detected.
  • the magnetized pattern can be formed by attaching a plurality of magnet pieces to the surface of the member.
  • the detector further includes k (k: a positive integer) magnetic detecting elements in addition to the n magnetic detecting elements,
  • the n magnetic sensing elements are arranged opposite to the magnetized surface at positions not adjacent to each other,
  • the k magnetic detection elements are arranged at positions different from each other, and are opposed to the magnetized surface at positions different from those of the n magnetic detection elements,
  • the absolute position of the magnetized member or the detector may be detected based on the detection outputs of the (n + k) magnetic detection elements.
  • the magnetized member includes first and second planes extending in parallel,
  • the first plane is the magnetized surface magnetized by the magnetized pattern
  • the second plane is a magnetized pitch (m: positive alignment) of m times the magnetized pattern. )
  • a detector is located,
  • the absolute position of the magnetized member or the detector can also be detected based on the detection outputs of the detector and the second detector.
  • the present invention has a stay, a low, and a primary excitation coil and a secondary induction coil arranged in the stay, and the mouth is in a rotational position. Accordingly, in a magnetic induction type absolute sensor configured to change magnetic coupling between the primary side exciting coil and the secondary side induction coil during the stay,
  • each partition portion is any one of a magnetic flux transmitting portion and a magnetic flux blocking portion
  • n (n: a positive integer) number of the secondary induction coils are arranged on a concentric circle, and each secondary induction coil faces the different partition part from each other. Are located,
  • the n secondary induction coils face each other when the rotor is rotated at equal angular pitches. It is characterized in that the arrangement pattern of the n partition portions is set to change for each rotation.
  • k (k: a positive integer) secondary induction coils are further provided;
  • the n secondary-side induction coils are disposed opposite to each other at a position that is not adjacent to each other, and
  • the k secondary induction coils are arranged at positions different from each other, and are opposed to the partition at positions different from those of the n secondary induction coils, Based on the detection outputs of these (n + k) secondary induction coils, the absolute rotational position of the rotor can also be detected.
  • the present invention provides a pattern forming member having a pattern forming surface on which a light transmitting / blocking portion or a light reflecting / absorbing portion is formed in a predetermined arrangement pattern in a circumferential direction or a plane direction;
  • a detector provided with a plurality of photodetectors arranged opposite to each other, and based on a detection output of the detector obtained by relatively moving the pattern forming member and the detector, the pattern forming member or the detector is detected.
  • Optical absolute sensor that detects the absolute position of the
  • the array pattern has 2 n (n: a positive integer) pattern-forming sections formed at equal pitch, and a predetermined array pattern has a light transmission and light blocking portion or a light reflection and light absorption portion. Is formed,
  • the detector includes n light detecting elements, and each light detecting element is arranged so as to face the pattern forming section different from each other,
  • the array pattern includes n pattern forming sections where the n light detecting elements face each other. Is set so that it changes with each relative movement.
  • the detector further includes k (k: positive integer) light detection elements in addition to the n light detection elements,
  • the n photodetectors are arranged opposite to the pattern forming surface at positions not adjacent to each other,
  • the k light detecting elements are arranged at positions different from each other, and at positions different from those of the n light detecting elements, facing the pattern forming surface,
  • the absolute position on the side of the pattern forming member or the detector is detected based on the detection outputs of the (n + k) light detection elements.
  • the arrangement pattern may be one in which a light transmitting portion and a light blocking portion, or a light reflecting portion and a light absorbing portion are arranged according to an n-bit M-sequence pattern.
  • FIG. 1 is an explanatory diagram for explaining the detection principle of an optical absolute sensor using a 4-bit M-sequence pattern.
  • FIG. 2 is an explanatory diagram showing a magnetic drum type absolute sensor to which the present invention is applied.
  • FIG. 3 is an explanatory diagram showing a rotating disk type absolute sensor to which the present invention is applied.
  • FIG. 4 is an explanatory diagram showing a high-resolution rotary disk type absolute sensor to which the present invention is applied.
  • FIG. 5 is a signal waveform diagram showing an example of a detection signal obtained from the second detector in FIG.
  • FIG. 6 is an explanatory diagram showing the principle of detecting the absolute position by the absolute sensor of FIG.
  • FIG. 7 is an explanatory diagram showing a magnetic absolute sensor to which the present invention is applied, in which detection elements can be discretely arranged.
  • FIG. 8 is an explanatory diagram for explaining the detection principle of the sensor in FIG.
  • FIG. 9 is an explanatory diagram showing a magnetic induction type absolute sensor to which the present invention is applied.
  • FIG. 10 is an explanatory diagram showing an effect of downsizing the device by dispersing the secondary detection coils in the absolute sensor of FIG.
  • FIG. 11 is an explanatory view showing an example of a conventional magnetic absolute sensor.
  • Fig. 12 is an explanatory diagram showing another example of a conventional magnetic absolute sensor. It is. Explanation of reference numerals
  • the detection principle according to the present invention is applied to an optical absolute sensor.
  • the following describes an example of an M-sequence pattern that is used.
  • Figure 1 (a) shows the M-sequence pattern. Since this M-sequence pattern is the 4-bit configuration, there is a resolution of 2 4. In the case of the optical mouth re-encoder, one round of the rotating disk is divided into 16 parts, and an M-sequence pattern is formed on the detection track with “0” as the light shielding part and “1” as the transmitting part. You. A detector composed of four light receiving elements a to d is arranged to face this detection track. Assuming that the addresses of the M-sequence pattern formed on the track of the rotating disk are 0 to 15 as shown in the figure, when the disk moves with respect to the detector, the output of each light receiving element a to d becomes It changes with rotation as shown in the figure.
  • the magnetic absolute sensor to which the present invention is applied replaces such an optical binary pattern with a magnetic binary pattern, and uses the magnetic binary pattern to reduce the size and cost of the sensor. This realizes a magnetic type absolute sensor.
  • the magnetized member has a magnetized member having a magnetized surface magnetized in a predetermined pattern in a circumferential direction or a plane direction, and a detector having a plurality of magnetic detecting elements arranged opposite to the magnetized surface.
  • the magnetized pattern is N and S poles are magnetized in a predetermined array pattern on 2 n (n: a positive integer) magnetized sections formed at equal pitches.
  • a magnetic detection element is provided, and each of the magnetic detection elements is arranged so as to face a different magnetized section, and the magnetized pattern is obtained when the magnetized member and the detector are relatively moved by the magnetized pitch.
  • a magnetic drum 21 as shown in FIG. 2A is adopted, and the magnetized surface is a circular outer peripheral surface 22 of the magnetic drum 21. Then, a magnetized pattern of N and S poles may be formed. In this magnetization pattern, a ring magnet may be attached to the outer peripheral surface of the cylindrical magnetic drum 21 or may be directly magnetized on the outer peripheral surface of the cylindrical member made of a magnetic material. Is also good. Alternatively, a configuration in which a small magnet piece is attached to the outer peripheral surface of the cylindrical member may be adopted.
  • the magnetized patterns are arranged in an arc at the same angle pitch as the pitch of the N and S poles. What is necessary is just to arrange
  • the magnetic detection element a Hall element, an MR element, or the like can be used.
  • two magnetic drums 21, 1 and 21 are arranged above and below in the axial direction of the drum. The poles are reversed, and for each magnetic drum, a detector 27 consisting of magnetic detecting elements 23 'to 26' and a detector 27 consisting of magnetic detectors 23 "to 26" are provided. ", And differential detection may be performed based on these detector outputs.
  • a rotating disk 31 as shown in FIG. 3 (a) is adopted, and the magnetized surface is formed into a circle having a predetermined width above or below the rotating disk 31. It can be any one of the annular end faces 32 and 33. example For example, when forming a magnetized ⁇ pattern using a 4-bit M-sequence pattern, four magnetic sensing elements arranged in an arc at the same angular pitch as the pitch of the N and S poles of the magnetized pattern are used.
  • the detector 38 composed of 4 to 37 may be arranged to face the magnetized panel.
  • the magnetized pattern may be formed by attaching a ring magnet to the upper surface or lower surface of the rotating disk 31 which is an annular member, or the upper surface or the upper surface of the annular member made of a magnetic material.
  • the lower surface may be magnetized directly.
  • a small magnet piece may be attached to the upper or lower surface.
  • the rotating disk is configured to include two tracks 31 1 and 3 1 ", and the N and S poles are magnetized in reverse patterns, and each pattern is Detector 38 is composed of magnetic detectors 34 'to 37, and detector 38 is composed of magnetic detectors 34 "to 37", respectively. The detection may be performed.
  • the pitch of the magnetized pattern is set to a narrow pitch so that the magnetic detecting elements cannot be arranged opposite to each other. Can not do. If the pitch cannot be narrowed, the resolution cannot be increased.
  • a high-resolution sensor can be realized using a commercially available magnetic detection element. That is, in this example, as shown in FIG. 3 (a), one of the annular end faces 32 of the annular member (rotating disk) 31 is magnetized according to the magnetization pattern. (Absolute detection pattern surface).
  • the other annular end face 33 of the annular member 31 has a magnetization pitch (m: a positive integer) that is m times the magnetization pattern, and N, A second magnetized surface (incremental detection pattern surface) with alternating S poles. Furthermore, by facing the second magnetized surface, the two magnetic detection elements 4 1 s 4 second 2 are arrayed structure of the detector 4 3 are arranged.
  • the same side of the rotating disc 31 is used.
  • Two tracks are formed concentrically on the surface, for example, the outer track is defined as an absolute detection pattern surface 32a, the inner track is defined as an incremental detection pattern surface 33a, and opposed to each track.
  • the detectors 38, 43 can also be arranged in such a way that Of course, an incremental detection pattern surface may be formed on the outside, and an absolute detection pattern surface may be formed on the inside.
  • a sine-wave detection signal By sine-magnetizing the second magnetized surface, a sine-wave detection signal can be obtained from the detector 43.
  • a sine-wave detection signal may be obtained by using an element that easily obtains a sine-wave detection output, such as an MR element, as the magnetic detection element.
  • both detection elements By arranging the two detection elements 41, 42 of the detector 43 at half the pitch of the magnetization pattern pitch of the N and S poles, as shown in Fig. 5, both detection elements , A two-phase signal output 90 degrees out of phase can be obtained.
  • the two-phase sine wave signal shown in FIG. 5 can be divided into multiple parts.
  • the divided output obtained by dividing the two-phase sine wave signal portion for one pitch into multiples is a signal representing the absolute position within one pitch. Therefore, the distance between the absolute positions of each 1 bit obtained by the detector 38 is the?
  • Figure 6 shows the steps for increasing the resolution.
  • This figure shows an example in which a 4-bit random number pattern is adopted as the magnetization pattern.
  • the leftmost column is a pitch number (disk address number), and the next column is a 4-bit detection pattern. (Detection output obtained by the detector 38), the next column shows the detection signal obtained by the detector 43, and the right column shows the position of each bit number (disk address number) divided by 2 n Is shown.
  • this configuration can be similarly applied to the rotary drum type absolute sensor shown in FIG.
  • one of the outer peripheral surface 22 and the inner peripheral surface (not shown) of the magnetic drum 21 that is a cylindrical member is magnetized according to the magnetized pattern.
  • the other surface of the magnetic drum 21 which is the cylindrical member is alternately N- and S-poles at a magnetization pitch (m: a positive integer) that is m times the magnetization pattern.
  • a second detector having a configuration in which two magnetic detecting elements are arranged is disposed so as to be the formed second magnetized surface, and opposed to the second magnetized surface. The absolute position on the side of the cylindrical member or the detector may be detected based on the detection output of the detector.
  • an optical encoder that employs an M-sequence pattern as a magnetization pattern
  • the magnetization pitch of the magnetization pattern cannot be made too small, and a large amount of cost is required to newly manufacture a magnetic detection element dedicated to the sensor. Therefore, it is advantageous to use a commercially available magnetic sensing element. In this case, when the size of the magnetic detection element is larger than the magnetization pitch, a plurality of magnetic detection elements cannot be arranged side by side in a state corresponding to the magnetization pitch.
  • the detector 78 for detecting the magnetized surface 70 on which the magnetized pattern is formed has n magnetic detection elements.
  • k (k: a positive integer) magnetic detecting elements 79 are further provided.
  • the n magnetic detecting elements 74 to 77 are attached at positions that are not adjacent to each other.
  • the k magnetic detection elements 79 are disposed opposite to the magnetic surface 70, and the k magnetic detection elements 79 are at different positions from each other, and at different positions from those of the n magnetic detection elements 74 to 77. 70, and detects the absolute position of the magnetizing member 71 or the detector 78 based on the detection outputs of these (n + k) magnetic detecting elements 74 to 77, 79. It is desirable to adopt a configuration that does this.
  • the magnetization pattern shown in Fig. 7 is obtained by expanding the 4-bit M-sequence pattern shown in Fig. 1 on the circumference.
  • the detection pattern is the same as that shown in FIG.
  • four magnetic detection elements 74 to 77 are arranged at address positions 1, 5, 9, and 13 in 16 divided disk addresses 0 to 15 so as to face each other.
  • the magnetic detecting element 79 included in the detector is arranged to face the address position 4.
  • the 4-bit detection pattern obtained from the four magnetic detection elements 74 to 77 changes as shown in FIG. .
  • the detection pattern obtained at the rotational position where the magnetic detection element 74 faces the addresses 3 and 11 of the rotating disk is the same.
  • the detection pattern is the same at the rotational position where the addresses 7 and 15 of the rotating disk are located at the magnetic detecting element 74. This is clear from the decimal value of the 4-bit detection pattern. As a result, absolute position detection becomes impossible.
  • the second detector is provided, and the detection pattern by the magnetic detection element 79 included therein is also considered.
  • a total of 5 bits of detection patterns are obtained for each rotational position, and these 5 bits of detection patterns are different from each other as is apparent from the decimal value. Therefore, absolute position detection becomes possible.
  • a commercially available magnetic detection element can be used regardless of the width of the magnetization pitch of the magnetization pattern. Therefore, a magnetic absolute sensor can be realized at low cost and easily.
  • FIG. 9 The configuration described above with reference to FIGS. 2 and 3 can be similarly applied to a magnetic induction type absolute sensor.
  • it has a stay 91, a mouth 92, and a primary excitation coil 93 and a secondary induction coil 94 arranged in the stay 91.
  • the mouth 92 is configured to change the magnetic coupling between the primary excitation coil 93 and the secondary induction coil 94 according to the rotational position. It is also applicable to the absolute sensor 90 of the type.
  • n sections (sections numbered 0 to 15 in the figure) formed at an equal angular pitch are formed on the concentric circle.
  • the partition part is patterned to one of the magnetic flux transmitting part and the magnetic flux blocking part.
  • n (n: a positive integer) secondary induction coils 94 are arranged on a concentric circle. Each secondary induction coil 94 is different from each other in each section. It is arranged to face the part.
  • the pattern composed of the magnetic flux transmitting portion and the magnetic flux blocking portion formed in each partition portion is such that n secondary-side induction coils 94 face each other when the rotor is rotated at an equal angular pitch.
  • the pattern of the n divided sections is set to change with each rotation.
  • a copper plate can be used for the mouth 92, in this case,
  • the magnetic flux transmitting portion is a through hole 101 formed in the copper plate.
  • FIG. 9 (c) when an alternating current flows through the primary coil 93, an alternating magnetic flux is generated there.
  • This magnetic flux forms a magnetic circuit passing through the outer magnetic ring 102 and the magnetic pole pin 103 located at the center of the secondary coil 94, and as a result, a voltage signal is applied to the secondary coil 94. Is induced.
  • the magnetic flux of the primary coil 93 generates an eddy current in the copper plate, the magnetic path is cut, and the secondary coil 94 , No voltage is induced.
  • the through hole 101 faces the secondary coil 94, a magnetic circuit is formed through the portion, so that a voltage is induced in the secondary coil 94. Is done.
  • the section where the through hole 101 is formed corresponds to “1” of the detection pattern shown in FIG. 1, and the section where no hole is formed corresponds to “0” of the detection pattern. . Therefore, if the through holes 101 are formed in accordance with the M-sequence pattern or the random number pattern, the absolute position can be detected in the same manner as in the case described above.
  • the detection pattern composed of the magnetic flux transmitting portion and the magnetic flux blocking portion can be defined by the presence or absence of holes formed in the conductive material plate. Instead of forming these holes, a small piece of magnetic material is provided on the surface of the non-magnetic plate. May be attached. Further, another conductive material may be used instead of the copper plate, and a magnetic material may be attached to the surface of the insulating plate. '
  • the detection pattern of the low and high currents is to block the magnetic flux of the predetermined secondary coil by the eddy current and prevent the induction of voltage in the secondary coil, or by using a magnetic material. It may be formed by any method having a structure in which an induced voltage is generated by passing a magnetic flux through the secondary coil. Of course, the detection pattern can be formed by using both structures in combination.
  • a configuration can be adopted in which the second detector is arranged to avoid obtaining an overlapping detection pattern depending on the rotational position.
  • k positive integer
  • the n secondary induction coils are mutually connected.
  • the k secondary-side induction coils are arranged opposite to each other at a position different from each other, and each of the k secondary-side induction coils is located at a different position from the n secondary-side induction coils.
  • the configuration may be such that the absolute rotational position of the rotor is detected based on the detection outputs of these (n + k) secondary-side induction coils, which are arranged to face the section.
  • the secondary coils can be arranged discretely in this way, the size of the device can be reduced. That is, as shown in Fig. 10 (a), for example, when four secondary coils 105 to 108 are arranged side by side, the outer diameter of the entire device depends on the coil outer diameter. Reducing the diameter is limited.
  • the present invention that can adopt the discrete arrangement, as shown in FIG. 10 (b), for example, four secondary coils 105 to 108 are arranged at 90 degree intervals.
  • the outer diameter of the entire device can be significantly reduced without being affected by the outer diameter of the secondary coil.
  • the resolution can be increased when the outer diameter of the device is the same.
  • the magnetic detection unit has been described as a secondary coil for convenience, but in practice, the magnetic detection unit is wound around a magnetic pole pin and its outer periphery. It consists of a coil winding. Therefore, the above description assumes a magnetic detection unit having a configuration in which the coil winding 152 is concentrically wound around the outer periphery of the magnetic pole pin 151, as shown in FIG. 10 (c). .
  • the magnetic detection unit may have a configuration in which the magnetic pole pin 161 is bent into an L shape, and the coil winding 162 is wound below the lower part.
  • the portion facing the detection pattern is the end portion 16 la of the magnetic pole pin 16 1. Therefore, in this case, by arranging as shown in FIG. 10 (e), downsizing of the entire detection device can be achieved.
  • the magnetic pole pin can be manufactured by press-forming a magnetic material such as a silicon steel plate. (Third embodiment)
  • the magnetized member of the present invention includes first and second planes extending in parallel, and the first plane is provided with The second plane is a magnetized surface that is magnetized by the magnetic field pattern.
  • the second plane has a magnetization pitch (m: a positive integer) that is m times the magnetization pattern, and N and S poles are alternately formed.
  • a second detector having a configuration in which two magnetic detecting elements are arranged is disposed so as to face the second polarized surface. It is configured to detect the absolute position of the magnetized member or the detector based on the detection output of the second detector.
  • the discrete arrangement of the magnetic detection elements in the magnetic absolute sensor having the above configuration can be similarly applied to an optical absolute sensor.
  • a pattern forming member having a pattern forming surface on which a predetermined light transmitting pattern or a light reflecting pattern is formed in a circumferential direction or in a straight line, and a detecting device having a plurality of light detecting elements arranged to face the pattern forming surface
  • An optical absolute sensor that detects the absolute position of the pattern forming member or the detector based on the detection output of the detector obtained by relatively moving the pattern forming member and the detector. The following configuration is adopted.
  • the light transmission pattern or the light reflection pattern is provided in a predetermined arrangement pattern in each of the 2n (II: positive integer) pattern forming sections formed at an equal pitch in a light transmission and light blocking part, or a light reflection and light reflection part.
  • a light absorbing portion is formed.
  • the detector includes n photodetectors, and each photodetector is arranged so as to face a different pattern forming section.
  • the light transmission or light reflection pattern is such that the light transmission or light reflection at n pattern formation sections facing the n photodetectors occurs.
  • the light reflection pattern arrangement is set to change with each relative movement.
  • the detector further includes k (k: positive integer) light detecting elements in addition to the n light detecting elements.
  • n photodetectors are arranged opposite to the pattern forming surface at positions not adjacent to each other.
  • the k photodetectors are arranged at positions different from each other and at positions different from each of the n photodetectors, facing the pattern forming surface.
  • the absolute position on the pattern forming member or the detector side is detected.
  • the light transmission or light reflection pattern a pattern in which a light transmission portion and a light blocking portion, or a light reflection portion and a light absorption portion are arranged according to an n-bit M-sequence pattern can be adopted. According to this example, even when the M-sequence pattern is adopted, since the discrete arrangement of the light receiving elements can be adopted, there is an advantage that the device layout becomes easy.
  • a magnetization pattern according to an M-sequence pattern, a random number pattern, or the like is detected by a plurality of magnetic detection elements, and a rotating member is detected based on the detection patterns.
  • the absolute position of the rotational position or the slide position of the slide member is detected. Therefore, the device configuration can be reduced in size as compared with the conventional magnetic absolute sensor, and the device can be manufactured at low cost.
  • the present invention by detecting the second magnetized pattern in which the N and S poles are alternately magnetized, each of the magnetized patterns obtained according to the M-sequence pattern and the like is obtained. Since the inside of the absolute position can be divided into multiple parts based on the detection signal obtained by the second magnetization pattern, a high-resolution absolute sensor can be realized.
  • the magnetization pattern when an M-sequence pattern or the like is used as the magnetization pattern, a plurality of magnetic sensing elements can be arranged discretely, so that a commercially available magnetic sensing element or the like can be used as it is.
  • the sensor can be manufactured at a low cost.
  • the optical absolute sensor when an M-sequence pattern or the like is employed as a detection pattern, a plurality of light receiving elements can be discretely arranged, thereby facilitating device layout. The advantage is obtained.

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  • Optical Transform (AREA)

Abstract

L'invention concerne un capteur absolu magnétique comportant un tambour magnétique (21) doté d'une surface magnétisée dans un motif prédéfini dans le sens du pourtour ou linéaire ainsi qu'un détecteur (27) doté d'une pluralité d'éléments de détection magnétique (23-26) placés face à la surface magnétisée et détectant la position absolue du tambour rotatif d'après les résultats de détection du détecteur (27) obtenus par la rotation du tambour magnétique (21), où un modèle de magnétisation sur la surface périphérique externe du tambour magnétique est tel que les pôles N et S soient magnétisés dans un modèle magnétisé prédéfini selon un modèle de M série. Tout ceci a lieu sur des segments magnétisés respectifs 2n (n étant un entier positif) formés à des écarts identiques. On dispose des éléments de détection magnétique face aux différents segments magnétisés et le motif magnétisé est défini de manière à offrir des motifs de détection différents pour chacune des positions de rotation lorsque le tambour rotatif (21) tourne. On obtient ainsi un capteur absolu magnétique compact peu onéreux.
PCT/JP2000/008759 1999-06-10 2000-12-11 Capteur absolu WO2002048653A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP16323199A JP4290281B2 (ja) 1999-06-10 1999-06-10 アブソリュートセンサ
PCT/JP2000/008759 WO2002048653A1 (fr) 1999-06-10 2000-12-11 Capteur absolu

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP16323199A JP4290281B2 (ja) 1999-06-10 1999-06-10 アブソリュートセンサ
PCT/JP2000/008759 WO2002048653A1 (fr) 1999-06-10 2000-12-11 Capteur absolu

Publications (1)

Publication Number Publication Date
WO2002048653A1 true WO2002048653A1 (fr) 2002-06-20

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PCT/JP2000/008759 WO2002048653A1 (fr) 1999-06-10 2000-12-11 Capteur absolu

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Country Link
JP (1) JP4290281B2 (fr)
WO (1) WO2002048653A1 (fr)

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EP2378253A3 (fr) * 2010-04-12 2012-04-25 Murata Machinery, Ltd. Système de détection de pôle magnétique et procédé de détection de pôle magnétique

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JP2013015342A (ja) * 2011-06-30 2013-01-24 Rhythm Watch Co Ltd 時計装置
JP6168762B2 (ja) * 2012-12-14 2017-07-26 キヤノン株式会社 アブソリュートエンコーダ
CN105229424B (zh) * 2013-05-21 2017-05-24 三菱电机株式会社 用于自校准旋转编码器的方法
JP6487246B2 (ja) * 2015-03-26 2019-03-20 三菱重工工作機械株式会社 電磁誘導式位置検出器及びそれを用いた位置検出方法
FR3052254B1 (fr) * 2016-06-07 2018-06-15 Stmicroelectronics (Rousset) Sas Dispositif de determination du mouvement d'un element rotatif, en particulier pour les releves de compteurs d'eau et/ou de gaz
JP2020100214A (ja) * 2018-12-20 2020-07-02 日立オートモティブシステムズ株式会社 ステアリング装置
JP7353992B2 (ja) 2020-01-14 2023-10-02 株式会社ミツトヨ ロータリエンコーダ
WO2023181213A1 (fr) * 2022-03-23 2023-09-28 三菱電機株式会社 Codeur absolu et moteur électrique

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JPS63177019A (ja) * 1986-10-09 1988-07-21 Alpine Electron Inc 位置センサ
JPH042916A (ja) * 1990-04-19 1992-01-07 Nikon Corp １トラック型アブソリュート・エンコーダ

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JPS63177019A (ja) * 1986-10-09 1988-07-21 Alpine Electron Inc 位置センサ
JPH042916A (ja) * 1990-04-19 1992-01-07 Nikon Corp １トラック型アブソリュート・エンコーダ

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2378253A3 (fr) * 2010-04-12 2012-04-25 Murata Machinery, Ltd. Système de détection de pôle magnétique et procédé de détection de pôle magnétique
US8659290B2 (en) 2010-04-12 2014-02-25 Murata Machinery, Ltd. Magnetic pole detection system and magnetic pole detection method
TWI482985B (zh) * 2010-04-12 2015-05-01 Murata Machinery Ltd Magnetic pole detection system and magnetic pole detection method

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JP2000352523A (ja) 2000-12-19
JP4290281B2 (ja) 2009-07-01

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