WO2006013622A1 - 絶対角度センサ付軸受装置 - Google Patents
絶対角度センサ付軸受装置 Download PDFInfo
- Publication number
- WO2006013622A1 WO2006013622A1 PCT/JP2004/011083 JP2004011083W WO2006013622A1 WO 2006013622 A1 WO2006013622 A1 WO 2006013622A1 JP 2004011083 W JP2004011083 W JP 2004011083W WO 2006013622 A1 WO2006013622 A1 WO 2006013622A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bearing
- correction data
- sensor
- absolute angle
- angle
- Prior art date
Links
Classifications
-
- 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
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
-
- 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
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/443—Devices characterised by the use of electric or magnetic means for measuring angular speed mounted in bearings
Definitions
- the present invention relates to a bearing device with an absolute angle sensor used for rotation angle detection in various devices, for example, angle detection for position control of a small motor and absolute angle detection of a robot joint.
- An encoder is widely used to detect the rotation angle of this type of device.
- bearings with built-in sensors that incorporate magnetic sensors in bearings are used.
- Magnetic sensor built-in bearings are not as accurate as separate optical encoders, especially for absolute angle detection. For example, it is essential to create correction data by connecting a high-precision encoder.
- the absolute angle detection using a Resonator lever generally uses an RD converter.
- correction data cannot be incorporated into the RD converter itself, so in the example of Patent Document 2, a calibration circuit using a CPU is added as described above, which makes the angle detector complex and expensive. become.
- an absolute angle can be detected by magnetizing a signal that changes over one rotation, for example, a sine wave of one rotation and one period, on a magnetic generation member and detecting it with a magnetic sensor. It is known that there is.
- the sensor built-in bearing does not require operations such as axial alignment because the sensor part and bearing have a body structure. However, it is difficult to magnetize the magnetism generating member in a desired manner, and highly accurate angle detection is not realized with the sensor alone.
- An object of the present invention is to provide a bearing with a rotation sensor capable of detecting an absolute angle with high accuracy without a calibration operation after being incorporated into a bearing installation device.
- the bearing device with an absolute angle sensor is a rotation detector that outputs two analog outputs having a phase difference of 90 ° in electrical angle as a detection output of the rotation angle of the rotation-side raceway with respect to the fixed-side raceway Correction data for error correction when the absolute angle of the rotation angle of the rotating raceway is calculated from the above two analog outputs is recorded and used as a pair with the above sensor-equipped bearing. And a component with a correction data recording section.
- the correction data recording part used as a pair is provided for each bearing with a sensor. Therefore, for each bearing with a sensor, the correction data when calculating the absolute angle is used for the bearing of that bearing. It can be measured in advance at the time of manufacture and recorded in a part with a correction data recording unit. Therefore, it is possible to detect absolute angles with high accuracy without the need for calibration after the bearings are installed in the bearing installation equipment. For this reason, a bearing with a rotation sensor capable of detecting an absolute angle with high accuracy at low cost can be realized.
- the rotation detector is attached to the rotation-side bearing ring and the detected portion whose magnetic characteristics are periodically changed in the circumferential direction, and is attached to the fixed-side bearing ring so as to face the detection portion. It may be composed of two magnetic sensors that output an analog output of 90 ° phase difference with respect to each other.
- the absolute angle can be output easily and accurately by using the correction data of the part with the correction data recording part. Can do.
- the analog output having a phase difference can be obtained by the two magnetic sensors, it can be made less susceptible to an external magnetic field by performing appropriate signal processing. In this case, because of the 90 ° phase difference, quadrant discrimination is possible and absolute angle detection with higher accuracy is possible.
- the component with the correction data recording unit uses the correction table in which the correction data is recorded, the correction data in the correction table, and the two analog outputs.
- Force Absolute angle calculating means for calculating an absolute angle, and the correction data may be based on angle calibration data measured after manufacturing the sensor-equipped bearing.
- the correction data recorded in the component with the correction data recording unit may be integrated into an angle value that is an arctangent calculation result in an arctangent calculation table.
- the absolute value is obtained by comparing the detection value of the rotation detector with the calculation table of arc tangent.
- the calculation of arc tangent in the digital method is complicated, but it can be easily obtained by referring to the table of arc tangent calculation results prepared in advance from the division results.
- the correction data is integrated with the angle value that is the result of the arc tangent calculation in the calculation table, that is, the angle value that is the result of the arc tangent calculation is the corrected data.
- the angle value obtained using the table is the corrected value. For this reason, after performing the arc tangent calculation, it is possible to perform a high-accuracy absolute angle detection that does not need to be performed again by a simple process.
- the component with the correction data recording unit is one It may be a chip type microcomputer or a programmable logic circuit.
- these one-chip microcomputers or circuit boards equipped with programmable logic circuits are acceptable.
- a component with a correction data recording unit is a component having a calculation function
- a part of the component can be used for recording correction data, and the calculation of the absolute angle can be performed using the calculation function of this component. it can. For this reason, there is no need to provide a separate component as a calculation means.
- FIG. 1A is a cross-sectional view showing a bearing with a sensor in a bearing device with an absolute angle sensor according to the first embodiment of the present invention.
- FIG. 1B is a schematic view showing a relationship between a detected portion and a magnetic sensor in the bearing.
- FIG. 2 is an explanatory view showing a method of magnetizing a detected portion in the bearing.
- FIG. 3 is a waveform diagram showing outputs of two magnetic sensors in the bearing.
- FIG. 4 is an explanatory diagram showing a relationship between a magnetization waveform of a detected part and two magnetic sensors in the bearing.
- FIG. 5 is a block diagram showing a schematic configuration of a bearing device with an absolute angle sensor that works on this embodiment.
- FIG. 6 is a block diagram showing a configuration of correction means in the bearing device.
- FIG. 7 is a cross-sectional view of a calibration device used for measuring correction data of a component with a correction data recording unit in the bearing device.
- FIG. 8 is a block diagram showing a schematic configuration of a bearing device with an absolute angle sensor that works on another embodiment of the present invention.
- FIG. 9 is a block diagram showing a configuration of correction means in the bearing device.
- FIG. 10 is a block diagram showing a schematic configuration of a bearing device with an absolute angle sensor that is useful in still another embodiment of the present invention.
- FIG. 11 is an explanatory view showing an example of attachment of a component with a correction data recording unit in the bearing device that exerts its power on the embodiment.
- FIG. 12 is an explanatory view showing another example of attachment of the component with the correction data recording unit in the bearing device that is effective in the embodiment.
- FIG. 13 is an explanatory view showing still another example of attachment of the component with the correction data recording unit in the bearing device that is applied to the embodiment.
- this bearing device with an absolute angle sensor includes a bearing 1 with a sensor and a component 20 with a correction data recording unit used as a pair with the bearing 1 with a sensor.
- the sensor-equipped bearing 1 is composed of a bearing portion 1A having a rotating side race ring 2 and a fixed side race ring 3 that are rotatable with respect to each other via a rolling element 4, and a rotation detector 6.
- the bearing portion 1A is formed of a deep groove ball bearing.
- the inner ring is a rotating side race ring 2 and the outer ring is a fixed side race ring 3.
- the raceway surfaces 2 a and 3 a of the rolling element 4 are formed on the outer diameter surface of the rotation side raceway ring 2 and the inner diameter surface of the fixed side raceway ring 3, and the rolling element 4 is held by a cage 5.
- the rotation detector 6 outputs two analog outputs with a 90 ° phase difference in electrical angle as detection output of the rotation angle of the rotation side raceway 2 with respect to the fixed side raceway ring 3.
- the rotation detector 6 includes a detected portion 7 attached to one end portion of the rotation-side raceway ring 2 and two magnetic sensors attached to one end portion of the fixed-side raceway ring 3 so as to face the detected portion 7. 8A and 8B.
- the end on the opposite side to the installation side of the rotation detector 6 is sealed with a seal member 10.
- the detected portion 7 of the rotation detector 6 is of a radial type, and is an annular component in which the magnetic characteristics with respect to the magnetic sensors 8A and 8B are periodically changed in the circumferential direction.
- This magnetic property changes with one rotation of the rotating side race 2 as one cycle.
- it has an annular back metal 11 and a magnetic generating member 12 provided on the outer peripheral side thereof and magnetized with magnetic poles N and S that change in the circumferential direction.
- This detected part 7 is connected via a back metal 11.
- the magnetism generating member 12 is, for example, a rubber magnet and is vulcanized and bonded to the back metal 11.
- the magnetism generating member 12 may be formed of a plastic magnet or a sintered magnet. In this case, the back metal 11 is not necessarily provided.
- FIG. 2 shows an example of a process for imparting the above-described magnetic characteristics to the magnetism generating member 12 of the detected part 7.
- an annular part before magnetization which becomes the annular detection part 7 is placed inside the air coil 13 wound in a cylindrical shape, and its axis C 1 is orthogonal to the axis C 2 of the air coil 13.
- a magnetizing current is passed through the air-core coil 13 in a state in which the magnetizing yoke 14 for correcting the magnetizing intensity distribution is arranged on the outer periphery of the component to be the detected part 7.
- a force S can be obtained on the magnetism generating member 12 of the detected portion 7 to obtain a sinusoidal magnetization distribution with one rotation as one cycle as shown in FIG.
- the two magnetic sensors 8A and 8B constituting the magnetic detection unit of the rotation detector 6 are arranged at predetermined intervals in the circumferential direction as shown in FIG. 1B (here, a phase difference of 90 ° in mechanical angle). ). Both of these magnetic sensors 8A and 8B are composed of analog sensors. These magnetic sensors 8A and 8B are mounted on the magnetic detection circuit board 9 as shown in FIG. 1A, inserted into the resin case 15 together with the magnetic detection circuit board 9, and then resin-molded. The resin case 15 is fixed to the fixed-side raceway ring 3 via the metal case 16 so that the magnetic sensors 8A and 8B and the magnetic detection circuit board 9 are attached to the fixed-side raceway ring 3.
- the magnetic detection circuit board 9 is a board on which a circuit for supplying power to the magnetic sensors 8A and 8B and processing the output signals of the magnetic sensors 8A and 8B and outputting them to the outside is mounted.
- FIG. 3 shows a waveform diagram of detection signals of both magnetic sensors 8A and 8B accompanying the rotation of the rotating side raceway ring 2.
- the two magnetic sensors 8A and 8B can obtain analog outputs X and Y that are 90 ° out of phase with respect to each other, so that quadrant discrimination is possible, and the absolute angle can be determined from these outputs X and Y. it can.
- FIG. 4 shows the relationship between the magnetization waveform of the detected portion 7 and the installation positions of both magnetic sensors 8A and 8B.
- the analog output X of the first magnetic sensor 8A becomes a sine wave
- the analog output Y of the second magnetic sensor 8B becomes a cosine wave. That is, between these analog outputs X and Y and the absolute angle ⁇ ,
- the component 20 with the correction data recording unit (FIG. 5) is added to detect the absolute angle ⁇ with high accuracy.
- the component 20 with the correction data recording unit can be installed on the sensor-equipped bearing 1 or separated from the sensor-equipped bearing 1.
- FIG. 5 is a block diagram showing a schematic configuration of the bearing device with an absolute angle sensor of this embodiment.
- correction data for correcting an error when the absolute angle of the rotation angle of the rotating side race 2 is calculated from the two analog outputs X and ⁇ of the rotation detector 6 is recorded.
- This component with correction data recording unit 20 records correction data for performing error correction when calculating the absolute angle of the rotation angle of the rotating race 3 from the analog outputs X, ⁇ of both magnetic sensors 8 ⁇ , 8 ⁇ .
- a correction table 26 and an absolute angle calculation means 27 for calculating the absolute angle from the two analog outputs X and ⁇ are used.
- the component 20 with the correction data recording unit is mounted in a digital manner so that the absolute angle can be calculated.
- the absolute angle calculation means 27 includes a divider 22 that divides the outputs X ′ and Y ′ of the two magnetic sensors 8 and 8 converted into digital signals by the A / D converter 21, and a calculation output by the divider 22 (
- the arc tangent calculator 23 that performs an arc tangent calculation corresponding to the above equation (3) from ( ⁇ ′ / Y ′)) and the absolute angle ⁇ that is the calculation output of the arc tangent calculator 23 are
- the correction processing unit 25 outputs a corrected absolute angle ⁇ ′ in comparison with the correction data.
- the correction processing unit 25 and the correction table 26 constitute correction means 24.
- the absolute angle ⁇ may be obtained using a calculation table (LUT: Lookup Table) (not shown) that stores the operation output ( ⁇ '/ Y') and the absolute angle value of arctangent. good.
- LUT Lookup Table
- the calculation of arc tangent in the digital method is complicated, but it can be easily obtained by referring to a table of arc tangent calculation results prepared in advance from the division result.
- FIG. 6 is a block diagram showing a configuration of the correcting means 24.
- a value corrected by a correction value ⁇ is associated with the calculated absolute angle ⁇ ′ as a calibrated absolute angle ⁇ ′.
- the correction data in the correction table 26 is based on angle calibration data measured after the manufacture of the sensor-equipped bearing 1.
- the measurement of the angle calibration data is performed by, for example, the calibration device 34 shown in FIG.
- this calibration device 34 one end portion of a rotary shaft 36 rotatably supported by a bearing 35 is supported by the sensor-equipped bearing 1 of this bearing device with an absolute angle sensor.
- the bearing with sensor 1 having the rotation detector 6 that performs the two analog output X, ⁇ of 90 ° phase difference, and the two analog outputs described above. Since the correction data for correcting the error when calculating the absolute angle of the rotation angle from X, ⁇ ⁇ is recorded and the sensor-equipped bearing 1 and the component 20 with the correction data recording section used as a pair are provided, the sensor After incorporating the attached bearing 1 into the user's system, high-precision absolute angle detection can be performed without performing calibration work for absolute angle detection again. The system design on the one side is also easy.
- the rotation detector 6 is attached to the rotation-side bearing ring 2 and has a detected part 7 whose magnetic characteristics are periodically changed in the circumferential direction, and a fixed-side bearing ring facing the detected part 7. Since it is composed of two magnetic sensors 8A and 8B that are attached to 3 and output an analog output of 90 ° phase difference in electrical angle, the absolute angle can be easily output. In addition, since the two magnetic sensors 8A and 8B can obtain analog outputs X and Y with a phase difference of 90 °, quadrant discrimination is possible and more accurate absolute angle detection is possible.
- the component 20 with the correction data recording unit uses the correction table 26 in which the correction data is recorded and the correction data in the correction table 26, and calculates the absolute angle from the two analog outputs X and Y.
- Absolute angle calculation means 27 for calculating, and the correction data is based on the angle calibration data measured after the manufacture of the sensor-equipped bearing 1, so that the output force absolute angle of the rotation detector 6 is calculated. The calculated value is automatically corrected and high-precision absolute angle detection is possible.
- the component 20 with the correction data recording unit is composed of an A / D converter 21, a divider 22, and a correction means 24A.
- the tangent calculation circuit 23 is omitted.
- the correction means 24A also serves as an arctangent calculation means, and an arctangent calculation result is a corrected result.
- the correction means 24A includes a correction processing unit 25 and a calculation table 28.
- the calculation table 28 includes an operation output ( ⁇ ′ / ⁇ ′) of the divider 22 and an arctangent based on the operation output. Calculation results (absolute angles) are recorded in association with each other, and corrected values are recorded as arc tangent calculation results.
- the correction processing unit 25 of the correction means 24 ⁇ searches the calculation table 28 for the arc tangent calculation result ⁇ 'corresponding to the calculation output (X'ZY') of the divider 22, and calculates the calibrated angle value ⁇ 'as an absolute angle.
- the divider 22 and the correction means 24 ⁇ constitute an absolute angle calculation means 27 ⁇ that calculates the absolute angle.
- the calculation of arc tangent in the digital method is complicated, but it can be easily obtained by referring to a table of arc tangent calculation results prepared in advance from the division result.
- a special correction means is added to the absolute angle detection circuit. It is possible to realize a highly accurate angle detection device that does not add the above.
- FIG. 10 to FIG. 13 show various specific usage patterns of the component 20 with the correction data recording section in each of the above embodiments.
- an interface 29 with the host side for enabling output of detected absolute angle data in various formats such as serial and parallel is provided on the component 20 with the correction data recording unit.
- the component 20 with the correction data recording unit is a one-chip microcomputer, a programmable logic circuit, or a circuit board on which these one-chip microcomputer or programmable logic circuit is mounted.
- the angle calculation means 38 in the figure is a calculation means including the divider 22 and the arctangent calculator 23 in the first embodiment (FIG. 5).
- the component 20 with the correction data recording unit can be easily mounted on the circuit board or the like of the user system in which the bearing device with the absolute angle sensor is incorporated.
- FIG. 11 shows an example of attachment of the correction data recording part-equipped component 20 formed as a circuit board in the embodiment of FIG.
- the rotation detector 6 of the sensor-equipped bearing 1 is connected to the circuit board 32 of the user system with the cable 30 and the connector 31, and the component 20 with the correction data recording unit is connected to the socket 33 on the circuit board 32 of the user system. Mounted.
- FIG. 12 shows another example of attachment of the component 20 with the correction data recording unit formed as a circuit board in the embodiment of FIG.
- the correction data recording part 20 is attached to the connector 31 that connects the rotation detector 6 of the sensor-equipped bearing 1 and the circuit board 32 of the user system together with the cable 30.
- FIG. 13 shows still another example of attachment of the correction data recording part-equipped component 20 formed as a circuit board in the embodiment of FIG.
- a component 20 with a correction data recording unit is incorporated in, for example, the stationary side race ring 3 of the sensor-equipped bearing 1, and the output (absolute angle) from the component 20 with a correction data recording unit is passed through the cable 30 and the connector 31 Is input to the circuit board 32 of the user system.
- the rotation detector 6 is a radial type, but the rotation detector 6 may be an axial type.
- the bearing portion 1A may also be an axial type.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/659,219 US8212551B2 (en) | 2004-08-03 | 2004-08-03 | Bearing with absolute angle sensor |
CN2004800437412A CN101010566B (zh) | 2004-08-03 | 2004-08-03 | 带绝对角度传感器的轴承装置 |
PCT/JP2004/011083 WO2006013622A1 (ja) | 2004-08-03 | 2004-08-03 | 絶対角度センサ付軸受装置 |
EP04748215.3A EP1783461B1 (en) | 2004-08-03 | 2004-08-03 | Bearing with absolute angle sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/011083 WO2006013622A1 (ja) | 2004-08-03 | 2004-08-03 | 絶対角度センサ付軸受装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006013622A1 true WO2006013622A1 (ja) | 2006-02-09 |
Family
ID=35786923
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/011083 WO2006013622A1 (ja) | 2004-08-03 | 2004-08-03 | 絶対角度センサ付軸受装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8212551B2 (ja) |
EP (1) | EP1783461B1 (ja) |
CN (1) | CN101010566B (ja) |
WO (1) | WO2006013622A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007093569A1 (de) * | 2006-02-18 | 2007-08-23 | Schaeffler Kg | Messeinrichtung zur bestimmung eines drehwinkels |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102101394B (zh) * | 2009-12-17 | 2013-03-20 | 北大方正集团有限公司 | 一种对绝对式编码器精确定位的方法及控制装置 |
EP2564084B1 (de) * | 2010-04-26 | 2014-12-31 | Schaeffler Technologies GmbH & Co. KG | Wälzlageranordnung mit einem winkelsensor |
US9353796B2 (en) * | 2012-05-22 | 2016-05-31 | Aktiebolaget Skf | Sensor-bearing unit and apparatus comprising such an unit |
WO2014082677A1 (de) * | 2012-11-30 | 2014-06-05 | Balluff Gmbh | Verfahren zur positions- und/oder wegmessung an einem system mit mindestens einem beweglichen objekt und positions-/wegmesssystem |
JP6191840B2 (ja) * | 2015-07-31 | 2017-09-06 | Tdk株式会社 | 角度センサの補正装置および補正方法ならびに角度センサ |
DE102016108007A1 (de) | 2016-04-29 | 2017-11-02 | Lock Antriebstechnik Gmbh | Schaltvorrichtung zum Schalten eines elektrischen Motors |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05231879A (ja) | 1992-02-20 | 1993-09-07 | Okuma Mach Works Ltd | 検出位置の補正方法 |
JPH07318369A (ja) * | 1994-05-23 | 1995-12-08 | Ckd Corp | レゾルバにおける補正データ作成方法及び回転角度検出方法並びに回転角度検出装置 |
DE4443898A1 (de) | 1994-12-09 | 1996-06-13 | Heidenhain Gmbh Dr Johannes | Positionsmeßverfahren und Positionsmeßeinrichtung |
WO1998021553A1 (fr) * | 1996-11-11 | 1998-05-22 | Fanuc Ltd. | Circuit d'interpolation de codeur |
US5786781A (en) | 1995-08-17 | 1998-07-28 | Fanuc Ltd | Encoder angle data computation method and computation apparatus |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1183503A (en) * | 1967-06-16 | 1970-03-11 | Kent Ltd G | Improvements in or relating to the measurement of fluid flow |
JPS57146164A (en) * | 1981-03-05 | 1982-09-09 | Secoh Giken Inc | Speed detecting device for disk type motor |
FR2599794B1 (fr) * | 1986-06-10 | 1991-06-07 | Roulements Soc Nouvelle | Palier ou roulement a capteur d'informations |
US5004981A (en) * | 1988-11-18 | 1991-04-02 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Detector device for simultaneously detecting both the direction and number of rotations of rotating member |
FR2660028B1 (fr) | 1990-03-20 | 1994-12-09 | Roulements Soc Nouvelle | Roulement a capteur de position angulaire. |
FR2693272B1 (fr) * | 1992-07-03 | 1994-09-02 | Skf France | Dispositif de détection de la vitesse de rotation d'un palier à roulement et moyeu à roulement pour roue de véhicule équipé d'un tel dispositif. |
GB9615941D0 (en) * | 1996-07-30 | 1996-09-11 | Timken Co | Combined bearing and sensor assembly |
DE19716985A1 (de) * | 1997-04-23 | 1998-10-29 | A B Elektronik Gmbh | Vorrichtung zur Ermittlung der Position und/oder Torsion rotierender Wellen |
JP3515426B2 (ja) | 1999-05-28 | 2004-04-05 | 大日本印刷株式会社 | 防眩フィルムおよびその製造方法 |
JP2001349898A (ja) | 2000-06-06 | 2001-12-21 | Ntn Corp | 回転検出機能付軸受 |
JP2002196117A (ja) | 2000-12-25 | 2002-07-10 | Nitto Denko Corp | 光拡散層、光拡散性シート及び光学素子 |
JP4918743B2 (ja) | 2001-02-16 | 2012-04-18 | 凸版印刷株式会社 | 反射防止フィルム |
JP2002265866A (ja) | 2001-03-13 | 2002-09-18 | Toppan Printing Co Ltd | 低屈折率コーティング剤及び反射防止フィルム |
JP2003057415A (ja) | 2001-08-21 | 2003-02-26 | Fuji Photo Film Co Ltd | 光拡散フィルム、その製造方法、偏光板および液晶表示装置 |
JP2003075603A (ja) | 2001-09-03 | 2003-03-12 | Nitto Denko Corp | 反射防止ハードコートシートおよび光学素子、画像表示装置 |
JP4120196B2 (ja) | 2001-10-19 | 2008-07-16 | コニカミノルタホールディングス株式会社 | 防眩性低反射フィルム、前記フィルムの製造方法、偏光板及び表示装置 |
JP2003161816A (ja) | 2001-11-29 | 2003-06-06 | Nitto Denko Corp | 光拡散性シート、光学素子および表示装置 |
US7138185B2 (en) | 2002-07-05 | 2006-11-21 | Fuji Photo Film Co., Ltd. | Anti-reflection film, polarizing plate and display device |
US20060152801A1 (en) | 2002-11-25 | 2006-07-13 | Fuji Photo Film Co., Ltd | Anti-reflection film, polarizing plate and liquid crystal display device |
JP4587656B2 (ja) * | 2003-10-22 | 2010-11-24 | Ntn株式会社 | アブソリュートエンコーダ付軸受 |
JP2005127378A (ja) * | 2003-10-22 | 2005-05-19 | Ntn Corp | アブソリュートエンコーダ付軸受 |
JP4703968B2 (ja) * | 2004-03-30 | 2011-06-15 | Ntn株式会社 | 回転センサ付軸受およびその回転センサの被検出部着磁方法 |
-
2004
- 2004-08-03 WO PCT/JP2004/011083 patent/WO2006013622A1/ja active Application Filing
- 2004-08-03 US US11/659,219 patent/US8212551B2/en active Active
- 2004-08-03 CN CN2004800437412A patent/CN101010566B/zh not_active Expired - Fee Related
- 2004-08-03 EP EP04748215.3A patent/EP1783461B1/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05231879A (ja) | 1992-02-20 | 1993-09-07 | Okuma Mach Works Ltd | 検出位置の補正方法 |
JPH07318369A (ja) * | 1994-05-23 | 1995-12-08 | Ckd Corp | レゾルバにおける補正データ作成方法及び回転角度検出方法並びに回転角度検出装置 |
DE4443898A1 (de) | 1994-12-09 | 1996-06-13 | Heidenhain Gmbh Dr Johannes | Positionsmeßverfahren und Positionsmeßeinrichtung |
US5786781A (en) | 1995-08-17 | 1998-07-28 | Fanuc Ltd | Encoder angle data computation method and computation apparatus |
WO1998021553A1 (fr) * | 1996-11-11 | 1998-05-22 | Fanuc Ltd. | Circuit d'interpolation de codeur |
US6188341B1 (en) | 1996-11-11 | 2001-02-13 | Fanuc Ltd. | Encoder interpolation circuit which corrects an interpolation angle between a received sine-wave encoder signal and a cosine-wave encoder signal |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007093569A1 (de) * | 2006-02-18 | 2007-08-23 | Schaeffler Kg | Messeinrichtung zur bestimmung eines drehwinkels |
Also Published As
Publication number | Publication date |
---|---|
US20090102466A1 (en) | 2009-04-23 |
EP1783461A1 (en) | 2007-05-09 |
US8212551B2 (en) | 2012-07-03 |
CN101010566B (zh) | 2010-05-26 |
EP1783461A4 (en) | 2009-01-14 |
CN101010566A (zh) | 2007-08-01 |
EP1783461B1 (en) | 2017-10-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5081553B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP5059772B2 (ja) | 最大360°のコースの磁気角度位置センサ | |
JP5583317B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
US7276899B2 (en) | Positional transducer and motor driven gear changer for a bicycle | |
JP6059620B2 (ja) | トルクセンサユニット | |
TW201842299A (zh) | 旋轉角度檢測裝置及旋轉角度檢測方法 | |
JP2007509336A (ja) | 高分解能の多回転測定システム及びこのシステムを有する軸受 | |
JP4703968B2 (ja) | 回転センサ付軸受およびその回転センサの被検出部着磁方法 | |
WO2010029742A1 (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2008267868A (ja) | 回転検出装置および回転検出装置付き軸受 | |
WO2006013622A1 (ja) | 絶対角度センサ付軸受装置 | |
CN210922654U (zh) | 一种基于巨磁阻效应的磁电编码器 | |
JP4343585B2 (ja) | 絶対角度センサ付軸受装置およびその使用方法 | |
JP2009069092A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2010261738A (ja) | 角度検出装置 | |
RU2317522C2 (ru) | Программируемый бесконтактный датчик углового положения с линейным угловым диапазоном в пределах 360° | |
JP2008267867A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP5161010B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
CN205352419U (zh) | 一种磁阻绝对式编码器 | |
CN211317206U (zh) | 一种绝对式角度测量装置 | |
WO2022264204A1 (ja) | 磁気式ロータリーエンコーダ | |
RU2312363C1 (ru) | Бесконтактный программируемый датчик абсолютного углового положения в 360° | |
CN205352423U (zh) | 一种磁阻式单圈绝对式编码器 | |
JP2023166133A (ja) | 回転角度検出装置及び電気制御装置 | |
JP2020143952A (ja) | 回転角検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 200480043741.2 Country of ref document: CN |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REEP | Request for entry into the european phase |
Ref document number: 2004748215 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2004748215 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2004748215 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11659219 Country of ref document: US |