CN102692243A - Multi-rotary absolute value rotary encoder - Google Patents
Multi-rotary absolute value rotary encoder Download PDFInfo
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- CN102692243A CN102692243A CN2012102041242A CN201210204124A CN102692243A CN 102692243 A CN102692243 A CN 102692243A CN 2012102041242 A CN2012102041242 A CN 2012102041242A CN 201210204124 A CN201210204124 A CN 201210204124A CN 102692243 A CN102692243 A CN 102692243A
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Abstract
The invention relates to a sensor for directly or indirectly measuring mechanical displacement, mainly aiming at the improvement of one type of multi-rotary (multi-ring) absolute value rotary encoders. The traditional technical design of the sensor has the disadvantages of large power consumption, complicated structure and high construction cost. According to the invention, an elastic energy storage mechanism 101 is added in an original structure creatively, so that a sensing assembly applying the technology does not need to be powered by an external power supply and also can spontaneously generate power, and even can output electric energy to be used by a signal processing circuit. The sensor which adopts the technology has final three direct beneficial effects: a cheap chip with lower power consumption can be used for replacing a previous complicated and precise structure, so that the cost is greatly reduced; an electronic chip is used for recording data so that a digit recording capability is greatly improved; and the application of a low-power-consumption chip group enables the sensor to not depend on the external power supply, and only an inner portable power supply can maintain more than several years of data recording.
Description
Technical field
The present invention relates to a kind of sensor (scrambler) that is used for the measurement mechanical displacement.Displacement transducer is used widely, for example in the engine, be used for location, the production line machinery hand attitude of crankshaft rotating phase place oneself's ' perception ' and control, the quantitative metering of production line, each kinematic axis of numerically-controlled machine dynamically or static immobilization etc.Even all often can see its shadow in the daily life, such as measuring instruments such as elevator, printer, mouse, gas meter and water meters.
Background technology
At present, in the common matured product, there are three kinds, are respectively: increment type, individual pen absolute value formula, enclose absolute value formula (passive measuring instruments such as a lot of water meters, gas meter are also at these row) more according to the measurement range Capability Categories.Divide according to forms of sensor, magneto-electric, Mageneto-sensitive type, photo-electric are arranged.Distinguish according to driving energy source, have passive with active.Be divided into orthoscopic and swinging according to forms of motion.
The increment type price is relatively cheap, but only is fit to do relative displacement measurement and tachometric survey.Incremental encoder utilizes input shaft to drive magnetic grid dish or grating dish; Cause the cycle of magnetic field or light to change; Use corresponding sensor then; Convert the variation of the magnetic of representing displacement or light to periodic electric signal, be transformed into count pulse to this electric signal again, represent the size of displacement with the number of pulse.It can be any one of employed magneto-electric in the current techniques, Mageneto-sensitive type, photo-electric that incremental encoder becomes the practical implementation way of periodic electric signal with displacement conversion.The incremental encoder advantage is simple in structure, and technology difficulty is low, and is cheap, and shortcoming is that outage back positional information can be lost.In position application, increment type powers on to start shooting at every turn and all will seek external reference point and then drop into operate as normal.
Individual pen absolute value formula, price is more expensive, but advantage is that the absolute fix to the multiple spot position can be provided in the revolution scope, promptly all provides one group of unique code to represent this position to every, and this positional information still can not lost after the outage.But individual pen absolute value formula just can't provide unique position code for the position application more than a circle, and this is its shortcoming.
Have in the series products, combine the characteristic of individual pen absolute value code-disc to come the rotating cycle of record coding device input shaft through standby power supply, even so that reaching primary power breaks off, scrambler writes down displacement information in still can be on a large scale voluntarily.Though this series products has had very much progress than pure individual pen absolute value formula, still is difficult to satisfy most of demands.Because three types of senser elements at present commonly used all need the relative labor energy, present battery technology is not enough to supply for a long time that it is required.Magneto-electric (magnetic head of similar traditional magnetic tape type sound-track engraving apparatus) for example; Basic structure is to be wound with coil on the open loop magnetic core skeleton; Its output signal strength is with respect to the Movement in Magnetic Field velocity variations; When very slow with respect to the movement velocity of static magnetic field the time, the signal that it induces deficiency thinks that treatment circuit has directly used.For the drawback of this magnetoelectric transducer, two kinds of reply ways are arranged at present: a kind of signal amplification circuit of need plugging into thereafter, but amplifying circuit has consumed additional electric energy, nor can in the sensor absolute rest, export by picked up signal; A kind of is at another group coil of magnetic core coiling, and the logical exciting current of going up, and so just can make magnetoelectric sensor in motionless with respect to static magnetic field, also can obtain enough strong output signal, but same, this also needs the additive decrementation electric energy.Also there are the big problem of similar energy consumption in remaining magnetosensitive device and photoelectric device.The problem big about this energy consumption has more detailed argumentation in patent 200580014807.X, and proposed solution based on this problem.But it does not tackle the problem at its root, and sensor still can consume a part of electric energy when detecting code-disc.
The advantage of many circle absolute value formulas is codes that it can provide absolute position in larger scope than individual pen absolute value formula, and outage back positional information is not lost.Like certain present type product, its individual pen ultimate resolution was 65536 steps, and the registering capacity that reaches 16384 circles is provided.But its complex structure, cost is high, so limited plurality of applications.
Summary of the invention
Obviously, the problem that present existing product can be summarized is: all have defective more or less, or function or performance are perfect inadequately, can't satisfy the demand, or cost an arm and a leg.The object of the invention is that specific technology and the combination technique means of utilization are evaded drawback of the prior art, realizes the manufacturing of the scrambler of many circle absolute value formulas cheaply.
According to Essential Analysis, can find that scrambler is energy conversion device in some applications, for example gas meter, water meter to this sensing element of scrambler.These all are in the measurement environment indirect or directly draw the energy that measured device provides, and realize data recording according to certain regular drive physical construction then.In the environment of applying encoders such as lathe because will export electric signal at a high speed, so the scrambler here all is to want external power supply to satisfy a large amount of relatively power consumption of electronic chip and senser element.Perhaps this has caused certain technological prejudice to a great extent in those skilled in the art, and both: sensor and internal core senser element all are (in the existing products power consumption of all types scrambler also really move power-supply unit relative to battery etc. be very big) of wanting consumed power.But in these were used, not only external power supply was an energy source in fact, and the input shaft of scrambler also is an energy source (kinetic energy).If can good use play this energy, obviously can solve many problems, mention the conventional big problem of individual pen absolute value encoder senser element energy consumption especially in the above.
To sum up analyze, the present invention in the theoretical policy that solves on this sensor energy consumption problem is: replace expensive accurate machine construction with cheap electronic chip, realize being equal to many circles registering capacity of conventional many circle absolute value encoders; Mechanical energy with the input shaft input makes sensor generation electric signal deliver treatment circuit, so that the electric energy that standby power supply only provides treatment circuit self to keep the required consumption of basic function, and need not take senser element into account.Even; If the technical progress of energy storage device in the future; Self-discharge rate like rechargeable battery is very low, farad capacitor just has thousands of methods in several cubic centimetres volume capacity and self-discharge rate are very low, sensory package that so can self power generation among the present invention even can the electric energy that keep the record master data be provided for the entire process circuit.Even if instantly, utilize the microwatt level energy of self power generation sensor, supply with the counter chip of the not enough microampere of current sinking and keep the also non-difficult matter of basic tally function.In some particular application,, can move decades even reach several thousand by holding circuit so if use is that isotope battery is made back-up source.These all are the most directly beneficial effects after the application technology of the present invention.The Application of Technology of the present invention has solved the deficiency of existing scrambler for number of turns registering capacity, can reach tens bits easily, and this is only determined by the counting figure place of low-power consumption counter chip.
According to above-mentioned enforcement policy; Following principle solution is proposed: because it is more difficult to handle the more little energy of the order of magnitude; So need device of design, a small amount of kinetic energy of input stored when input shaft low speed was slowly rotated, when input shaft rotates above a certain angle threshold; Discharge and directly convert into electric energy or electric signal to the kinetic energy of storage again, so just can avoid under the conventional magnetoelectric transducer low speed situation can't operate as normal or the drawback that needs external power supply to assist.The simple approach that realizes the direct storage of kinetic energy is structure one elastic construction; Pin down resistance by input shaft through media transmission such as member or magnetic fields, the tested supporting member of senser element or cooperation with it can be swung along the rotation arc direction of input shaft in a limited scope.
Sensor energy consumption problem solution is summed up: this elasticity accumulation of energy structure is the most important thing that the present invention is able to solve crucial energy consumption problem; Its key effect is to store the kinetic energy of input shaft low speed microdisplacement in order to release with elastic potential energy, and converts electric energy (being electric signal) to.And it is corresponding; At present relevant sensor and supporting magnetic grid, grating, gear, ratchet rigidly fix all in the record of all product and various documents on the market, in existing active or passive displacement sensing, also all can't see and periodically store the assembly or the parts of release to input kinetic energy.On the accumulating mechanism basis of elastic construction, can extend the equivalents that much can solve energy consumption problem.When discharging potential energy, can utilize the magnetoelectricity principle such as the elasticity accumulating mechanism, also can detect elastic construction and discharge the vibrations of potential energy generation and export electric signal with the alternative magnetoelectricity coil of piezoelectric ceramics through magnetic field intensity output electric signal in the change coil; The elasticity accumulating mechanism can be arranged on the input shaft with its rotation, also can be arranged on the shell fixing; Be the input shaft that reaches relative motion and the retardation between the shell; Magnetic field tractive force also can replace to the ratchet detent mechanism of physical construction; Electric signal is exported in vibration through swing, and this can realize solving the function of policy equally, accomplishes the cycle conversion to the mechanical energy of input shaft input.For the equivalent modifications of energy storage device, all be that those skilled in the art only just can not accomplish according to existing optional technical scheme through creative brainwork in the industry.
Description of drawings
Fig. 1 is embodiment one, one of scheme that realizes based on the magnetic resistance change rate electricity generating principle
Wherein:
101 elastic damping accumulating mechanisms (can be whole FF, also can be independent elastomeric element, as spring etc.)
102 sensors (transducing head is made up of ferromagnetism magnetic core and coil)
103 sensing switches
104 back-up sources
105 data-interfaces
203 ferromagnetism ratchets
107 input shafts
108 treatment circuits
109 bearings
110 shells
Fig. 2 is sensor and the relevant portion details of embodiment one
Wherein:
110 shells
101 elastic damping accumulating mechanisms (can be whole FF, also can be independent elastomeric element, as spring etc.)
201 magnetic circuits, the magnetic line of force
202 cell windings
203 ferromagnetism ratchets
The 204 sensor N utmost points
The 205 sensor S utmost points
Fig. 3 is the dynamic declaration of Fig. 2
Wherein:
110 shells
101 elastic damping accumulating mechanisms (can be whole FF, also can be independent elastomeric element, as spring etc.)
201 magnetic circuits, the magnetic line of force
202 cell windings
203 ferromagnetism ratchets
The 204 sensor N utmost points
The 205 sensor S utmost points
206 transducer magnetic heads rotate with ratchet, exceed the swaying direction behind the elasticity threshold range
207 ratchet rotation directions
Fig. 4 distinguishes the another kind distortion that input shaft rotates direction
Wherein:
301 unilateral bearings (two unilateral bearings are oppositely installed, and input shaft only drives a rotation in two ratchets when rotating)
Fig. 5 utilizes piezoelectric ceramics to do the exemplifying embodiment of senser element
Wherein:
110 shells
401 piezoelectric ceramics (and possible installation site, only indicate two preferential schemes of selecting among the figure)
101 elastic damping accumulating mechanisms
207 rotation directions
402 cams
Fig. 6 is the dynamic declaration of Fig. 5
Wherein:
501 piezoelectric sensing head swaying directions
Fig. 7 is the synoptic diagram of many sensory packages scheme
Fig. 8 is under three, the four sensory package schemes, the output waveform synoptic diagram of sensory package.
Embodiment
Instruct based on above theoretical solution and technical approach, enforcement of the present invention can be by the different structure of being made up of effects equivalent the different patterns of a lot of different materials.Can't explain one by one as space is limited, but for ease of understanding essence of the present invention, below still enumerate the exemplary embodiment of part.
The elastic energy storage device can utilize existing great majority, except that solid material crisp, the hard material is processed, like metal, plastics, glass carbon fibre etc.Usually use can be done the material optimum of spring members now.Another characteristics of elastic energy storage device are that damping action will be arranged, and the amplitude when both freely swinging is wanted and can be decayed rapidly, otherwise can it can not directly accurately be discerned great influence output signal by circuit.This damping not only can be accomplished by the parts of sole duty, also can come part-time by the damping capacity of elastic parts self.
The senser element part, the existing different technologies scheme classification according to the kinetic energy direct generation of electricity can realize two types of sensors and structure.A kind of is magneto-electric, and a kind of is piezoelectric type.The magneto-electric segmentation utilizes two kinds of magnetic resistance change rate generating, cutting magnetic line generatings.Wherein utilize in the structure of magnetic resistance generating, the position of permanent magnet can be arranged in any ring in magnetic circuit; Sensing coil also can be arranged in any ring in magnetic circuit.The application of piezoelectric ceramics can be through knocking or form such as twisting the kinetic energy that induction elastic energy storage device discharges.Sensory package and all can do the conversion of sound position with the assembly of its relative motion.
Exemplary whole implementation example one:
With reference to figure 1; Except necessary conventional structure such as back-up source 104, data-interface 105, input shaft 107, treatment circuit 108, bearing 109, shell 110; Utilize the magnetic resistance minimum principle; The active ferromagnetism assembly 203 of a band of special design bulge-structure is fixed on the input shaft 107, and with rotation therewith, ferromagnetism ratchet 203 affects a passive ferromagnetism sensory package 102; And among these two ferromagnetism assemblies, select one of which (this legend is at ferromagnetism sensory package 102) elastic damping energy storing structure 101 is installed.
Near among Fig. 1 the ferromagnetism sensory package 102 details is seen Fig. 2, and ferromagnetism sensory package 102 mainly is made up of cell winding among Fig. 2 202, the sensor N utmost point 204, the sensor S utmost point 205
With reference to figure 3; When two ferromagnetic assemblies 203 and 102 produce relative motion trend; Under the acting in conjunction of magnetic pull and elastic construction 101, passive ferromagnetic assembly 102 (passive ferromagnetic assembly 102 promptly is 202,204,205 integral body) can be spurred by the ferromagnetic assembly 203 of active within the specific limits.In the time of pulling, the kinetic energy of input shaft 107 inputs can be stored in the elastic damping structure 101.When surpassing the elasticity threshold value of elastic damping energy storing structure 101; Because magnetic circuit is broken, the potential energy that elastic damping energy storing structure 101 stores discharges, and passive ferromagnetism assembly 102 can be fast to the opposite direction swing of ferromagnetic assembly 203 movement tendencies of active; Be flapped toward the maximum path of next magnetic conductance; Simultaneously, the magnetic flux through coil in the magnetic circuit changes because of the magnetic circuit disturbance, causes coil to produce induced potential.Because the speed of the relative initiatively swing of ferromagnetic assembly of passive ferromagnetic assembly so the voltage that coil produces also can be higher than certain value, is directly delivered treatment circuit 108 records always greater than a certain value.
In this example; Elastic damping energy storing structure 101 also can be replaced by articulated structure; And its spring function originally; Can always combine by design feature and magnetic flux along the maximum path closure of magnetic conductance, thus produce magnetic pull and the characteristic of trying hard to shorten magnetic flux path on behalf of completion, this enforcement that does not influence global design does not depart from design concept of the present invention yet
Exemplary whole implementation example two (see figure 4)s:
Most of consistent with embodiment one, only sensory package partly is two covers, is driven by two reverse unilateral bearings of installing 301 respectively, and promptly two one on ferromagnetism ratchets only can clockwise rotate with input shaft, and another meeting rotates counterclockwise with input shaft.
Exemplary whole implementation example three (see figure 5)s:
Most of structure is all identical with embodiment one, and just type of sensor changes, and here is to utilize the generating capacity of piezoelectric ceramics 401 to realize the conversion of displacement and electric signal.When cam 402 revolutions are crossed a tooth, the piezoelectric sensing head all can be swung to knock and once export an electric impulse signal.In the middle of practical implementation, because the characteristic of vibrations makes piezoceramic transducer can be installed in any sensitive part.Present embodiment action synoptic diagram is referring to Fig. 6.
Exemplary whole implementation example four:
In order to differentiate the sense of rotation of input shaft 107, also can use a plurality of sensing elements according to certain angular deviation, with respect to several circle distribution of taking turns.So that when input shaft rotates, export dephased three-phase pulse signal, or four phase pulse signals and even higher (five mutually and more than), the axial view of this programme interior details is seen Fig. 7.Such benefit is the mechanism that not only can save the resolution sense of rotation of a special manufacturing of needs, can also be on the basis of original ratchet, and the pulse number of the revolution that is multiplied output.
Statement: all relate to personnel of the present invention and will be appreciated that, except clearly those disclosed example, realizing that aim of the present invention, essence are possible at this when the embodiment disclosed herein is made amendment.Ought to be within scope of the present invention for such modification that does not deviate from technological core of the present invention and distortion.Therefore, scope of the present invention is not limited to above-mentioned those exemplary embodiments of enumerating, and the claims in the present patent application of only being annotated by invention policy scheme in this instructions limit.
Claims (2)
1. absolute value coding displacement sensor, its architectural feature is: except having shell, input shaft, treatment circuit, interface conventional structure, also have the sensory package of elastic energy storage structure and self power generation; Its functional character is: the elastic energy storage mechanism that mainly is made up of resilient material periodically stores, discharges the kinetic energy of input shaft input.
2. absolute value coding displacement sensor as claimed in claim 1, its characteristic also is: the kinetic energy that elastic energy storage mechanism discharges supply with by magnetoelectricity assembly or piezoelectric element etc. form can self power generation sensory package produce periodic electric energy or electric signal pulse.
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| CN2012102041242A CN102692243A (en) | 2012-06-20 | 2012-06-20 | Multi-rotary absolute value rotary encoder |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103162715A (en) * | 2013-03-18 | 2013-06-19 | 黄山良业阀门有限公司 | Electronic coder |
| US9038279B2 (en) | 2013-08-05 | 2015-05-26 | Industrial Technology Research Institute | Mechanical encoder |
| CN105091736A (en) * | 2014-05-14 | 2015-11-25 | 日本电产三协株式会社 | Manual pulse generation apparatus |
| EP2966244A1 (en) * | 2014-07-07 | 2016-01-13 | Brose Schliesssysteme GmbH & Co. KG | Drive component of a drive train for a motor vehicle lock |
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| US10598512B2 (en) | 2017-10-26 | 2020-03-24 | Industrial Technology Research Institute | Batteryless rotary encoder |
| CN111457946A (en) * | 2020-05-21 | 2020-07-28 | 哈尔滨理工大学 | Self-generating magnetoelectric encoder |
| CN111912436A (en) * | 2020-08-05 | 2020-11-10 | 广州彩熠灯光股份有限公司 | Self-powered rotation sensing device |
| DE102022000343A1 (en) | 2022-01-28 | 2023-08-03 | Baumer Germany Gmbh & Co. Kg | Rotary encoder with generator for self-sufficient energy supply |
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| JP2002131087A (en) * | 2000-10-26 | 2002-05-09 | Toshiba Mach Co Ltd | Rotary absolute encoder |
| JP2003307435A (en) * | 2002-04-16 | 2003-10-31 | Nsk Ltd | Bearing apparatus with sensor |
| JP2007051989A (en) * | 2005-08-19 | 2007-03-01 | Yaskawa Electric Corp | Generating set for multiple rotation type absolute value encoder and multiple rotation type absolute value encoder provided with generating set |
| CN101832789A (en) * | 2009-02-24 | 2010-09-15 | W·梅纳特 | The absolute type magnetic positioner |
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| JP2002131087A (en) * | 2000-10-26 | 2002-05-09 | Toshiba Mach Co Ltd | Rotary absolute encoder |
| JP2003307435A (en) * | 2002-04-16 | 2003-10-31 | Nsk Ltd | Bearing apparatus with sensor |
| JP2007051989A (en) * | 2005-08-19 | 2007-03-01 | Yaskawa Electric Corp | Generating set for multiple rotation type absolute value encoder and multiple rotation type absolute value encoder provided with generating set |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103162715A (en) * | 2013-03-18 | 2013-06-19 | 黄山良业阀门有限公司 | Electronic coder |
| US9038279B2 (en) | 2013-08-05 | 2015-05-26 | Industrial Technology Research Institute | Mechanical encoder |
| CN105091736A (en) * | 2014-05-14 | 2015-11-25 | 日本电产三协株式会社 | Manual pulse generation apparatus |
| CN105091736B (en) * | 2014-05-14 | 2018-04-20 | 日本电产三协株式会社 | Manual pulse generating unit |
| EP2966244A1 (en) * | 2014-07-07 | 2016-01-13 | Brose Schliesssysteme GmbH & Co. KG | Drive component of a drive train for a motor vehicle lock |
| US10598512B2 (en) | 2017-10-26 | 2020-03-24 | Industrial Technology Research Institute | Batteryless rotary encoder |
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN111457946A (en) * | 2020-05-21 | 2020-07-28 | 哈尔滨理工大学 | Self-generating magnetoelectric encoder |
| CN111912436A (en) * | 2020-08-05 | 2020-11-10 | 广州彩熠灯光股份有限公司 | Self-powered rotation sensing device |
| DE102022000343A1 (en) | 2022-01-28 | 2023-08-03 | Baumer Germany Gmbh & Co. Kg | Rotary encoder with generator for self-sufficient energy supply |
| DE102022000343B4 (en) | 2022-01-28 | 2024-01-11 | Baumer Germany Gmbh & Co. Kg | Rotary encoder with generator for self-sufficient energy supply |
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Application publication date: 20120926 |