CN106537093A - Encoder device, drive device, stage device, and robot device - Google Patents

Abstract

To reduce or eliminate the need to replace a battery that supplies power to an encoder device. An encoder device (EC) that is provided with: a position detection system comprising a detection unit (7) for detecting position information related to a mobile unit (SF), and a magnet (3) that changes position relative to the detection unit together with movement of the mobile unit; and a power supply system comprising a power generation unit (4) for generating power by means of magnetic field variation that accompanies the movement of the mobile unit and a power adjustment unit (8) that adjusts power output from the power generation unit so as to obtain power having a predetermined voltage and supplies at least a part of the power that is consumed by the position detection system.

Description

Encoder apparatus, driving means, table device and robot device

Technical field

The present invention relates to encoder apparatus, driving means, table device and robot device.

Background technology

Detection includes that the encoder apparatus of the multirotation type of the rotation information of revolution are equipped on the various devices such as robot device (for example, referring to following patent documents 1).In the action of robot device, encoder apparatus are for example from robot device's Main power source receives power supply, and detection includes the rotation information of revolution and angle position.

But, when robot device terminates the process for specifying, disconnect the main power source sometimes.In this case, slave The main power source of device people's device also stops to the power supply of encoder apparatus.In robot device, in the following quilt of main power source When switching to connection, i.e., when the action of next time is started, it is sometimes desirable to the information such as initial posture.Therefore, in encoder apparatus In, even if in the state of electric power is not externally supplied, also requiring that the information for keeping revolution.Accordingly, as encoder apparatus, make By the electric power that supplies from battery keeping the device of revolution in the state of the power supply that cannot carry out automatic power supply.

Patent document 1：Japanese Unexamined Patent Publication 8-50034 publication

The content of the invention

Encoder apparatus as described above are sometimes for replacing battery.Battery altering is carried out in regularly maintenance etc., root According to the life-span of battery, the frequency of maintenance there may come a time when to uprise.

A kind of first method of the invention, there is provided encoder apparatus, possesses position detecting system and power supply system System, the position detecting system include：Test section, detects the positional information of move portion；And magnet, along with the shifting of move portion It is dynamic, change with the relative position of test section.The electric power supply system includes：Power Generation Section, by the shifting along with move portion The change in dynamic magnetic field is producing electric power；And electric power adjustment portion, the electric power exported from Power Generation Section is adjusted to into assigned voltage Electric power, supplies at least a portion for the electric power consumed by position detecting system.

A kind of second method of the invention, there is provided driving means, possesses：The encoder apparatus of first method；Power Supply unit, is powered to rotary shaft；And control unit, the rotation information detected using the test section of encoder apparatus is controlling Brake force supply unit.

A kind of Third Way of the invention, there is provided table device, possesses：Mobile object；And second method Driving means, move mobile object.

A kind of fourth way of the invention, there is provided robot device, possesses：The driving means of second method；And First arm and the second arm, carry out relative movement by driving means.

Description of the drawings

Fig. 1 is the figure of the encoder apparatus for illustrating first embodiment.

(A) of Fig. 2 is the configuration figure of the magnet and generator unit of first embodiment, is (B) to illustrate first embodiment Magnetic field figure.

Fig. 3 is the circuit structure diagram in the magnetic encoder portion of first embodiment.

Fig. 4 is the circuit structure diagram in the magnetic encoder portion of variation.

Fig. 5 is the figure of the encoder apparatus for illustrating second embodiment.

Fig. 6 is the configuration figure of the generator unit of second embodiment.

Fig. 7 is the circuit structure diagram in the magnetic encoder portion of second embodiment.

Fig. 8 is the sequential chart of the action in magnetic encoder portion when rotating forward for illustrating second embodiment.

The sequential chart of the action in magnetic encoder portion when Fig. 9 is the counter-rotating for illustrating second embodiment.

Figure 10 is the figure of the encoder apparatus for illustrating the 3rd embodiment.

(A) of Figure 11 is the configuration figure of the Magnetic Sensor of the 3rd embodiment, (B) is the Magnetic Sensor of the 3rd embodiment Circuit structure diagram.

Figure 12 is the circuit structure diagram in the magnetic encoder portion of the 3rd embodiment.

Figure 13 is the sequential chart of the action in magnetic encoder portion when rotating forward for illustrating the 3rd embodiment.

Figure 14 is the sequential chart of the action in magnetic encoder portion when illustrating the counter-rotating of the 3rd embodiment.

Figure 15 is the figure of the encoder apparatus for illustrating the 4th embodiment.

Figure 16 is the configuration figure of the generator unit and Magnetic Sensor of the 4th embodiment.

Figure 17 is the circuit structure diagram in the magnetic encoder portion of the 4th embodiment.

Figure 18 is the sequential chart of the action in the magnetic encoder portion for illustrating the 4th embodiment.

Figure 19 is the figure of the encoder apparatus for illustrating the 5th embodiment.

(A) of Figure 20 is the stereogram of the magnet, generator unit and Magnetic Sensor that illustrate the 6th embodiment, (B) is The figure in the magnetic field formed by the magnet of the 6th embodiment is shown, (C) is the circuit structure of the Magnetic Sensor of the 6th embodiment Figure.

Figure 21 is the figure of the circuit structure in the magnetic encoder portion for illustrating the 6th embodiment.

Figure 22 is the circuit structure diagram in the magnetic encoder portion of the 7th embodiment.

Figure 23 is the sequential chart of the action in magnetic encoder portion when rotating forward for illustrating the 7th embodiment.

Figure 24 is the sequential chart of the action in magnetic encoder portion when illustrating the counter-rotating of the 7th embodiment.

Figure 25 is the figure in the magnetic encoder portion for illustrating variation.

Figure 26 is the circuit structure diagram in the magnetic encoder portion of the 8th embodiment.

Figure 27 is the sequential chart of the action in magnetic encoder portion when rotating forward for illustrating the 8th embodiment.

Figure 28 is the sequential chart of the action in magnetic encoder portion when illustrating the counter-rotating of the 8th embodiment.

Figure 29 is the figure of the encoder apparatus for illustrating the 9th embodiment.

Figure 30 is the figure for illustrating variation.

Figure 31 is the figure of the driving means for illustrating present embodiment.

Figure 32 is the figure of the table device for illustrating present embodiment.

Figure 33 is the figure of the robot device for illustrating present embodiment.

Symbol description

1 magnetic encoder portion；2 optical encoders, angle sensors portions；3 magnet；5 signal processing parts；7 test sections；8 electric power adjustment portions；9 Storage part；20 magnetosensitive portions；21 Power Generation Sections；35 photoelectrical couplers；36 photoelectrical couplers；41 magnetosensitive portions；42 Power Generation Sections；55 magnetic are sensed Device；60 Magnetic Sensors；MTR driving means；RBT robot devices；STG table devices.

Specific embodiment

[first embodiment]

Illustrate first embodiment.Fig. 1 is the figure of the encoder apparatus EC for illustrating present embodiment.Encoder apparatus EC The rotation information (positional information) of rotary shaft SF (move portion) of detection motor M (power supplying part).Rotary shaft SF is such as horse Up to M rotating shaft (rotor) is but it is also possible to be the rotating shaft that motor M is connected to via power transfering parts such as variable-speed motors and is connected to negative The effect axle (output shaft) of load.The rotation information that encoder apparatus EC is detected is supplied to into motor control part MC.Motor control Portion MC controls the rotation of motor M using the rotation information supplied from encoder apparatus EC.Motor control part MC controls rotary shaft SF Rotation.

Encoder apparatus EC be it is so-called turn absolute encoder, detect rotary shaft SF including revolution and angle position Rotation information.Encoder apparatus EC possesses the magnetic encoder portion 1 of the revolution of detection rotary shaft SF and detects rotary shaft SF The optical encoders, angle sensors portion 2 of angle position.

Magnetic encoder portion 1 possesses magnet 3, generator unit 4 and signal processing part 5.Magnet 3 is arranged on and is fixed on rotation The plectane 6 of axle SF.Plectane 6 is rotated together with rotary shaft SF, so magnet 3 is accompanied by the rotation of rotary shaft SF (with rotary shaft SF Rotate together).Generator unit 4 produces electric power by the changes of magnetic field of the rotation with magnet 3.Signal processing part 5 possesses Test section 7, electric power adjustment portion 8 and storage part 9.Change of the test section 7 according to the electric power exported from generator unit 4, detection rotation The rotation information of rotating shaft SF.In test section 7, the revolution of rotary shaft SF is detected as rotation information.Electric power adjustment portion 8 will be from The electric power of the output of generator unit 4 is adjusted to the electric power of assigned voltage.Storage part 9 is deposited using the electric power from the output of electric power adjustment portion 8 The testing result of storage test section 7.With regard to the structure in magnetic encoder portion 1, it is described in detail later in reference to Fig. 2, Fig. 3 etc..

Optical encoders, angle sensors portion 2 is come the angle of the angle position within detecting a turn of rotary shaft SF by being patterned Degree test section.Detect the rotation letter with detection object identical rotary shaft SF in magnetic encoder portion 1 in optical encoders, angle sensors portion 2 Breath.Optical encoders, angle sensors portion 2 possesses light-emitting component 11, scale S, by optical sensor 12 and signal processing part 13.

Scale S is arranged on the plectane 14 for being fixed on rotary shaft SF.Scale S includes incremental scale and absolute scale.Fig. 1's Plectane 14 is dividually described with plectane 6, but can both be and 6 identical part of plectane, or the portion integrated with plectane 6 Part.For example, scale S can also be arranged at the face of the side contrary with magnet 3 at plectane 6.Scale S can also be arranged at magnet At least side in 3 inner side and outer side.

Light-emitting component 11 is to scale S irradiation lights.Detected from light-emitting component 11 by optical sensor 12 and projected and through scale S's Light.In FIG, optical encoders, angle sensors portion 2 is transmission-type, has been passed through the light of scale S by the detection of optical sensor 12.Optical profile type is compiled Code device portion 2 can also be reflection-type.Would indicate that the signal of testing result is supplied to signal processing part 13 by optical sensor 12.Letter Number processing unit 13 pairs is processed from the signal supplied by optical sensor 12.

Signal processing part 13 includes test section 15, combining unit 16 and PERCOM peripheral communication portion 17.Test section 15 is passed using light The testing result of sensor 12, detects the angle position of rotary shaft SF.For example, test section 15 is using the light detected from absolute scale Result detecting the angle position of first resolution.In addition, result of the test section 15 using the light detected from incremental scale, Interpolative operation is carried out in the angle position of first resolution, so as to detect the angle position of the second resolution higher than first resolution Put.

Combining unit 16 obtains the angle position of the second resolution that test section 15 is detected.In addition, combining unit 16 is from magnetic-type The storage part 9 in encoder portion 1 obtains the revolution of rotary shaft SF.The angle position in combining unit Autonomous test in 16 future portion 15 and from The revolution synthesis in magnetic encoder portion 1, calculates rotation information.For example, the testing result in test section 15 is θ [rad], magnetic-type volume The testing result in code device portion 1 is that combining unit 16 calculates (2 π × n+ θ) and is used as rotation information in the case that n turns.Such one turn The sometimes referred to as many transfering the letter breaths of the rotation information that rotation above can be showed.

Many transfering the letter breaths are supplied to PERCOM peripheral communication portion 17 by combining unit 16.PERCOM peripheral communication portion 17 is with can be by wired or nothing The mode communicated by line is connected with the communication unit MC1 of motor control part MC.PERCOM peripheral communication portion 17 is by many transfering the letters of digital form Breath is supplied to the communication unit MC1 of motor control part MC.Motor control part MC is to the PERCOM peripheral communication portion from optical encoders, angle sensors portion 2 17 many transfering the letter breaths are suitably decoded.Motor control part MC controls to be supplied to the electric power of motor M by using many transfering the letter breaths (driving electric power), controls the rotation of motor M.

Next, with regard to magnetic encoder portion 1, illustrating in more detail.Fig. 2 (A) is to illustrate magnet 3 and generator unit 4 stereogram.Fig. 2 (B) is the figure in the magnetic field for illustrating that the magnet 3 in Fig. 2 (A) is formed.

Magnet 3 is configured to by rotation and the direction in magnetic field in the radiation direction (radial direction) relative to rotary shaft SF and strong Degree change.Magnet 3 is the part of the annular shape coaxial with rotary shaft SF.The interarea (surface and the back side) of magnet 3 respectively with rotation Axle SF is substantially vertical.As shown in Fig. 2 (B), magnet 3 is to have carried out magnetized permanent magnet to 4 poles.Magnet 3 is respectively in its inner circumferential side And outer circumferential side, N poles and S poles are arranged with the circumferential, in 180 ° of inner circumferential side and outer circumferential side phase offset.In magnet 3, inner circumferential side N poles and the border of S poles it is substantially uniform with the position (angle position) of the N poles of outer circumferential side and the circumference on the border of S poles.

Here, for convenience of explanation, by as viewed from the front (side contrary with motor M of Fig. 1) from rotary shaft SF In the case of rotation counterclockwise be referred to as rotating forward, by it is clockwise rotation be referred to as counter-rotating.In addition, with the occasion of representing The angle for rotating forward, represents the angle of counter-rotating with negative value.In addition it is also possible to by the base end side from rotary shaft SF (Fig. 1's Motor M sides) look in the case of rotation counterclockwise be defined as rotating forward, clockwise rotation is defined as into reverse rotation Turn.

Here, 1 border of the N poles and S poles in circumference in the coordinate system of magnet 3 is fixed on, is represented with position 3a Angle position, the angle position that have rotated 90 ° is represented from position 3a with position 3b.In addition, being represented from position 3b with position 3c 90 ° of angle position is have rotated, the position that have rotated 90 ° is represented from position 3c with position 3d.Position 3c be N poles in circumference and The angle position on another border of S poles.In Fig. 2 (B), the footpath in the magnetic field (magnetic field intensity line) of position indicated by an arrow To direction, represent the intensity in magnetic field with the fineness degree of the arrow.

From the first interval of 180 ° counterclockwise of position 3a, N poles are configured with the outer circumferential side of magnet 3, in magnet 3 The week side of boss is configured with S poles.In the first interval, the direction of the radial direction in magnetic field is probably from the outer circumferential side of magnet 3 to inner circumferential side Direction.In first interval, the intensity in magnetic field is maximum at the 3b of position, the minimum near the vicinity of position 3a and the position 3c.

From the second interval of 180 ° counterclockwise of position 3c, N poles are configured with the inner circumferential side of magnet 3, in the outer of magnet 3 The week side of boss is configured with S poles.In the second interval, the direction of the radial direction in magnetic field is the direction from the inner circumferential side of magnet 3 to outer peripheral side. In second interval, the intensity in magnetic field is maximum at the 3d of position, the minimum near the vicinity of position 3a and the position 3c.

So, the direction of the radial direction in the magnetic field formed by magnet 3 is inverted at the 3a of position, is inverted at the 3c of position.Magnet 3 Relative to the coordinate system of the outside for being fixed on magnet 3, the formation friendship that the direction in the magnetic field of radial direction inverts with the rotation of magnet 3 Stream magnetic field.Generator unit 4 is configured at position as viewed from the normal direction of the interarea of magnet 3 and Chong Die with magnet 3.

As shown in Fig. 2 (A), generator unit 4 possesses magnetosensitive portion 20 and Power Generation Section 21.Generator unit 4 is with magnet 3 non-contactly Arrange.The external stability of magnetosensitive portion 20 and Power Generation Section 21 and magnet 3, with magnet 3 rotation and with magnet 3 on each position Relative position changes.For example, in Fig. 2 (B), position 3d is configured with the vicinity of generator unit 4, when the magnet 3 from the state After going around to forward direction rotation (counterclockwise), position 3c, position 3b, position 3a pass sequentially through the vicinity of generator unit 4, single generating electricity The vicinity allocation position 3d again of unit 4.

Magnetosensitive portion 20 is the magnetosensitive wire such as Wiegand wires.In magnetosensitive portion 20, by the magnetic field of the rotation with magnet 3 Change and big Barkhausen jump (Wiegand effects) occurs.Magnetosensitive portion 20 is columned part, and its axial direction is set as magnetic The radial direction of iron 3.Magnetosensitive portion 20 during reversing magnetic field, is produced from one end of axial direction to another when applying AC magnetic field in its axial direction The neticdomain wall at end.

Power Generation Section 21 is wound around being configured at the high-density coils in magnetosensitive portion 20 etc..At Power Generation Section 21, with magnetosensitive portion 20 In neticdomain wall generation and there is electromagnetic induction, flow through induced-current.In position 3a or the position of the magnet 3 shown in Fig. 2 (B) Put 3c by generator unit 4 it is neighbouring when, the electric current of pulse type is produced at the Power Generation Section 21.

Direction before and after reversion of the sense of current produced at the Power Generation Section 21 according to magnetic field and change.For example, from court To magnet 3 outside magnetic field to reversing magnetic field towards inner side when the sense of current that produces with from towards the inner side of magnet 3 Magnetic field to reversing magnetic field towards outside when the sense of current that produces it is contrary.

Here, be conceived to the position 3a of Fig. 2 (B) by generator unit 4 it is neighbouring when magnetic field direction change. The position 3a of the magnet 3 of rotate counterclockwise by generator unit 4 it is neighbouring when, the magnetic field at magnetosensitive portion 20 is from from the outer of magnet 3 The direction of lateral inner side is reversed to the direction of the Inside To Outside from magnet 3.In addition, in the position of the magnet 3 for turning clockwise 3a by generator unit 4 it is neighbouring when, the magnetic field at magnetosensitive portion 20 is reversed to from magnetic from the direction of the Inside To Outside from magnet 3 Direction of the outside of iron 3 to inner side.Therefore, the magnet 3 that rotates forward position 3a by generator unit 4 near when sending out The sense of current produced at electric portion 21 with the position 3a of the magnet 3 for reversely rotating by generator unit 4 near when sending out The sense of current produced at electric portion 21 is reverse.

So, at Power Generation Section 21, electric power is produced by the changes of magnetic field at magnetosensitive portion 20.The electric power is for by magnetic-type At least a portion for the electric power that encoder portion 1 consumes.The electric power (induced-current) produced at Power Generation Section 21 can be according to for example The number of turn of high-density coils is setting.In addition, can be in the electric power consumed by magnetic encoder portion 1, single by generating electricity to reach The mode of the generated energy that unit 4 provides sets the number of turn of high-density coils.

The magnetosensitive portion 20 and Power Generation Section 21 of Fig. 2 (A) is accommodated in housing 22.In the housing 22, terminal 23a and end are provided with Sub- 23b.One end of the high-density coils of Power Generation Section 21 is electrically connected with terminal 23a, and its other end is electrically connected with terminal 23b.Generate electricity The electric power produced at portion 21 can be fetched into the outside of generator unit 4 via terminal 23a and terminal 23b.

Fig. 3 is the figure of the circuit structure for illustrating magnetic encoder portion 1.The magnetic encoder portion 1 of present embodiment includes inspection The electricity that the detecting system of the revolution that the revolution storage for surveying rotary shaft SF is detected and supply (offer) are consumed by detecting system At least one of electric power supply system of power.Here, detecting system is illustrated first, next illustrate electric power supply system.

In the present embodiment, the detecting system of the revolution in encoder apparatus EC includes test section 7 and storage part 9.Such as Shown in Fig. 3, test section 7 includes current detector 25, current detector 26 and counter 27.

The input terminal 25a of current detector 25 is connected to the terminal 23a of generator unit 4.Current detector 25 detect from Flow through the electric current I1 for coming in Power Generation Section 21.Electric current I1 is equivalent to the electric current for flowing to terminal 23a in generator unit 4 from terminal 23b.Electricity The lead-out terminal 25b of current sensor 25 is connected to the first input end 27a of counter 27.Current detector 25 is from input In the case that the electric current of sub- 25a inputs is more than threshold value, from lead-out terminal 25b output voltages.For example, current detector 25 is in inspection In the case of measuring the electric current of pulse type, voltage (signal) corresponding with electric current is supplied to into the first input end of counter 27 27a。

The input terminal 26a of current detector 26 is connected to the terminal 23b of generator unit 4.Current detector 26 detect from The electric current I2 that Power Generation Section 21 is oppositely flowed with electric current I1.Electric current I2 flows to terminal from terminal 23a equivalent in generator unit 4 The electric current of 23b.The lead-out terminal 26b of current detector 26 is connected to the second input terminal 27b of counter 27.Current detector 26 in the case where the electric current being input into from input terminal 26a is more than threshold value, from lead-out terminal 26b output voltages.For example, electric current Voltage (signal) corresponding with electric current is supplied to counter 27 in the case where the electric current of pulse type is detected by detector 26 Second input terminal 27b.

Counter 27 includes such as CMOS logic circuit etc., by the voltage supplied via first input end 27a and Jing By the voltage of the second input terminal 27b supplies as control signal, counting process is carried out.For example, counter 27 is being examined from electric current Surveying in the case that device 25 outputs voltage increases count value, makes counting in the case where voltage is outputed from current detector 26 Value is reduced.Counter 27 detects the number of times of the electric current of pulse type to current detector 25 and current detector 26 detects pulse The number of times of the electric current of shape is counted.

Such test section 7 can obtain the count value of the revolution corresponding to the magnet 3 concomitantly rotated with rotary shaft SF. The electric power of the pulse type exported from Power Generation Section 21 is used as detection signal by test section 7, detects the revolution of rotary shaft SF.Storage part 9 The storage information related to the revolution that counter 27 is detected.Storage part 9 includes such as nonvolatile memory 28, even if not In the state of supply electric power, it is also possible to the information being written with during being maintained at supply electric power.

The encoder apparatus EC of present embodiment provided by generating electricity by revolution detecting system consume electric power extremely A few part.Therefore, it is possible to omit for providing the battery of the consumption electric power of detecting system, or make the life-span of battery elongated. As a result, can for example realize low-frequency degree, the cost degradation safeguarded.In the present embodiment can also no battery.At this In embodiment, in the case where there is battery, can save and power to battery all the time, the life-span of battery can be made elongated.Its knot Really, the frequency of battery altering can be reduced.In the present embodiment, in the case of no battery, battery line, outer can be omitted Portion's battery, can realize miniaturization, cost degradation.Hereinafter, illustrate the electric power supply system of encoder apparatus EC.

The electric power supply system of encoder apparatus EC includes generator unit 4 and electric power adjustment portion 8.Electric power adjustment portion 8 includes Rectistack 30, stepup transformer 31 and adjuster 32.Rectistack 30 is to carry out the whole of rectification to flowing through the electric current for coming from Power Generation Section 21 Stream device.The voltage of 31 pairs of electric power from the output of rectistack 30 of stepup transformer boosts.Adjuster 32 will be from rectistack 30 via liter The Voltage Cortrol of the output of depressor 31 is into assigned voltage.

The first input end 30a of rectistack 30 is connected with current detector 25.By rectistack 30 and current detector 25 The holding wire of connection is arranged at and by the system different from the holding wire that counter 27 connects of current detector 25.Rectistack 30 The second input terminal 30b be connected with current detector 26.The holding wire that rectistack 30 is connected with current detector 26 is arranged In with by the system different from the holding wire that counter 27 connects of current detector 26.The ground terminal 30g of rectistack 30 connects It is connected to the ground wire GL being supplied to signal ground SG identical current potentials.The lead-out terminal 30c of rectistack 30 is connected to stepup transformer 31 input terminal 31a.

The electric current I1 in self power generation in future portion 21 is supplied to the first input end of rectistack 30 via current detector 25 30a.The electric current I2 in self power generation in future portion 21 is supplied to the second input terminal 30b of rectistack 30 via current detector 26.It is whole Stream heap 30 carries out full-wave rectification based on these electric current outputs.Rectistack 30 is by the electric power that have adjusted by rectification via output end Sub- 30c is supplied to stepup transformer 31.

Stepup transformer 31 includes the DC/DC converters of such as booster type.The ground terminal 31g of stepup transformer 31 is connected to ground wire GL.The lead-out terminal 31b of stepup transformer 31 is connected with the input terminal 32a of adjuster 32.Stepup transformer 31 will be entered by rectistack 30 Gone full-wave rectification the first DC voltage conversion into second DC voltage higher than the first DC voltage.First DC voltage The signal ground SG that the reference potential of reference potential and the second DC voltage is and supplies via ground wire GL and ground terminal 31g Current potential identical current potential.Stepup transformer 31 generates required voltage and storage part during the counting than being implemented by counter 27 is processed Either one all high voltage in 9 write process in required voltage is used as the second DC voltage.For example, the second direct current It is pressed in and in the case that counter 27 is made up of CMOS etc., is set as that the voltage of the switch motion than the FET for correctly carrying out CMOS is high Voltage.

Adjuster 32 includes for example low-loss 3 terminal adjuster.The ground terminal 32g of adjuster 32 is connected to ground wire GL.The lead-out terminal 32b of adjuster 32 is connected to power line PL.The input terminal 32a of adjuster 32 is supplied by stepup transformer 31 The second DC voltage for generating.Adjuster 32 generates ripple (pulsation) few based on the second DC voltage generated by stepup transformer 31 Assigned voltage.The signal ground SG that the reference potential of the assigned voltage is and supplies via ground wire GL and ground terminal 32g Current potential identical current potential.Assigned voltage is such as 3V in the case where counter 27 is made up of CMOS etc..Storage part 9 it is non-easily Lose property memory 28 operation voltage be set as example with assigned voltage identical voltage.Electric power adjustment portion 8 is at least from detection Portion 7 detect revolution to storage part 9 write revolution during in, the current potential of power line PL is set to into the current potential relative to ground wire GL Assigned voltage.Additionally, assigned voltage refers to the voltage needed for power supply here, constant magnitude of voltage is not only, also may be used Being the voltage for periodically changing.

The power supply terminal 27p of counter 27 is connected to power line PL.The ground terminal 27g of counter 27 is connected to ground wire GL.When incoming current I1 is flowed from Power Generation Section 21, electric power adjustment portion 8 supplies assigned voltage to power line PL, via power supply terminal 27p Assigned voltage is supplied to counter 27.In addition, with the electric power of assigned voltage is supplied to counter 27 substantially simultaneously or behind, Detection signal is supplied to the first input end 27a of counter 27 from current detector 25.Counter 27 is using via power supply The electric power of terminal 27p and ground terminal 27g supplies, carries out counting process.In the detecting system of revolution, it is appropriately arranged with postponing to want Element, so that in the time point for supplying detection signal from current detector 25 to counter 27, from electric power adjustment portion 8 to counter 27 supply electric powers.By so, the revolution for detecting is supplied by the detection revolution of counter 27 in the electric power from electric power adjustment portion 8 In a period of to continuing, output is to storage part 9.Additionally, magnetic encoder portion 1 is in the situation that incoming current I2 is flow through from Power Generation Section 21 Under, similarly carry out action.

The power supply terminal 28p of the nonvolatile memory 28 of storage part 9 is connected to power line PL.Nonvolatile memory 28 Ground terminal 28g be connected to ground wire GL.When incoming current I1 is flow through from Power Generation Section 21, electric power adjustment portion 8 is to power line PL Supply assigned voltage, supplies assigned voltage to storage part 9 via power supply terminal 28p.In addition, specifying electricity with to the supply of storage part 9 The information of revolution substantially simultaneously or behind, is supplied to storage part 9 from counter 27 by pressure.Storage part 9 is using via power supply The electric power of terminal 28p and ground terminal 28g supplies, carries out the write of the information of revolution.In the detecting system of revolution, suitably set Delay key element is put, so that in the time point of the information for supplying revolution from counter 27 to storage part 9, from electric power adjustment portion 8 pairs 9 supply electric power of storage part.By so, the write in a period of the power supply from electric power adjustment portion 8 continues of storage part 9 turns Several information.

So, the magnetic encoder portion 1 of the encoder apparatus EC of present embodiment is from 21 output current of Power Generation Section In short time, so-called dynamic driving (intermittent driving) is carried out.After the detection and write of revolution terminate, the inspection to revolution is cut off The power supply of examining system is supplied, but count value is stored in nonvolatile memory 28, so being kept.Even if from outside Power supply be cut off in the state of, and the assigned position on magnet 3 by generator unit 4 it is neighbouring when repeat Such sequence.In addition, the information of the revolution stored in storage part 9 is next when motor M is started by motor control part MC etc. Read, for calculating initial position of rotary shaft SF etc..

The encoder apparatus EC of structure as above provides the electric power consumed by the detecting system of revolution by generating electricity At least a portion.Therefore, encoder apparatus EC can be omitted for providing the battery of the consumption electric power of the detecting system of revolution, Or make the life-span elongated.As a result, encoder apparatus EC can eliminate or reduce the necessity of battery altering.

But, if using magnetosensitive wires such as Wiegand wires, even if the rotation of magnet 3 is extremely low speed, also from generating Unit 4 obtains pulse current output.Thus, for example not carrying out to motor M under state of power supply etc., in rotary shaft SF In the case that the rotation of (magnet 3) is extremely low speed, it is also possible to which the output of generator unit 4 is used as detectable signal.

In addition, in the present embodiment, electric power adjustment portion 8 is generated more dynamic than counter 27 and storage part 9 by stepup transformer Make the second high DC voltage of voltage, assigned voltage is generated based on the second DC voltage.Therefore, in counter 27 and storage part 9 carry out action this respect can obtain enough action surpluses, it is to avoid the action undesirable condition of counter 27, and avoid storage The action undesirable condition in portion 9.

Next, explanation variation.In this variation, with regard to the key element that there is corresponding relation with above-mentioned embodiment, Additional same-sign and omit or simplify its explanation.

Fig. 4 is the figure of the circuit structure in the magnetic encoder portion 1 for illustrating this variation.In the magnetic encoder portion 1, inspection Survey portion 7 includes photoelectrical coupler 35 and photoelectrical coupler 36.Photoelectrical coupler 35 and photoelectrical coupler 36 have inside which respectively There are light-emitting component and photo detector.

The anode 35a of the light-emitting component of photoelectrical coupler 35 is connected to the terminal 23a of generator unit 4.Photoelectrical coupler 35 The negative electrode 35c of light-emitting component be connected to the terminal 23b of generator unit 4.The ground terminal of the photo detector of photoelectrical coupler 35 35g is connected to ground wire GL.The power supply terminal 35p of the photo detector of photoelectrical coupler 35 is connected to power line PL.Photoelectric coupling The lead-out terminal 35b of the photo detector of device 35 is connected to the first input end 27a of counter 27.

When the electric current I1 of forward direction is exported from Power Generation Section 21, electric current is flow through in the light-emitting component of photoelectrical coupler 35, lead to The light that have issued is crossed from the light-emitting component, and the power supply terminal 35g and lead-out terminal 35b of photo detector are powered via resistance etc.. Therefore, voltage corresponding with the voltage of power line PL is exported from the lead-out terminal 35b of photoelectrical coupler 35.From photoelectrical coupler 35 The voltage of lead-out terminal 35b outputs take the value set in advance of the voltage less than power line PL.Exporting instead from Power Generation Section 21 To electric current I2 in the case of, without flow through electric current in the light-emitting component of photoelectrical coupler 35, so photoelectrical coupler 35 is defeated The current potential for going out terminal 35b is the current potential identical current potential with ground terminal 35g.So, photoelectrical coupler 35 is to based on forward direction The electric power of the electric current I1 of flowing carries out the test section of binaryzation.

Photoelectrical coupler 36 is the structure same with photoelectrical coupler 35, but the connection of the anode and negative electrode of light-emitting component is closed System is different from photoelectrical coupler 35.The anode 36a of the light-emitting component of photoelectrical coupler 36 is connected to the terminal 23b of generator unit 4, Negative electrode 36c is connected to terminal 23a.The ground terminal 36g of the photo detector of photoelectrical coupler 36 is connected to ground wire GL, power end Sub- 36p is connected to power line PL.It is second defeated that the lead-out terminal 36b of the photo detector of photoelectrical coupler 36 is connected to counter 27 Enter terminal 27b.

When reverse electric current I2 being exported from Power Generation Section 21, flow through electric current in the light-emitting component of photoelectrical coupler 36, lead to The light that have issued is crossed from the light-emitting component, and the power supply terminal 36g and lead-out terminal 26b of photo detector are powered via resistance etc.. Therefore, voltage corresponding with the voltage of power line PL is exported from the lead-out terminal 36b of photoelectrical coupler 36.Defeated from Power Generation Section 21 In the case of going out the electric current I1 of forward direction, without flow through electric current in the light-emitting component of photoelectrical coupler 36, so photoelectrical coupler 36 The current potential of lead-out terminal 36b be current potential identical current potential with ground terminal 36g.So, photoelectrical coupler 36 is to being based on The electric power of the electric current I2 of reverse flow carries out the test section of binaryzation.

In this variation, when magnet 3 assigned position by generator unit 4 it is neighbouring when, export electricity from Power Generation Section 21 Stream, is carried out for driving the power supply of the detecting system of revolution.In addition, from the lead-out terminal 35b of photoelectrical coupler 35 or The lead-out terminal 36b of photoelectrical coupler 36 exports voltage set in advance and is used as judging having for the counting implemented by counter 27 The control signal of effect, invalid counter.The voltage makes light-emitting component electrically insulate with photo detector in each photoelectrical coupler, institute With can be independently controlled with the electric current exported from Power Generation Section 21.Therefore, easily make the lead-out terminal from each photoelectrical coupler defeated The level of the voltage (signal) for going out is matched with the operation voltage of counter 27.

But, in order to limit the level of the electric current from the output of Power Generation Section 21, it is also possible to waited electricity using diode clipper Voltage protection circuit, if as shown in figure 4, use photoelectrical coupler, the loss of energy can be suppressed.Therefore, easily by send out The electric power that the detecting system generated electricity to provide by revolution of electric unit 4 is consumed.

Additionally, in the diagram, capacitor 37 is provided between rectistack 30 and adjuster 32.The first of capacitor 37 is electric Pole 37a is connected to the holding wire for being connected the lead-out terminal 30b of rectistack 30 with the input terminal 32a of adjuster 32.Capacitor 37 second electrode 37b is connected to ground wire GL.The capacitor 37 is so-called smoothing capacity device, reduces pulsation and reduces adjusting The load of device.The constant of capacitor 37 is for example set to until detecting revolution by test section 7 and writing in storage part 9 and turn In a period of till number, maintain from electric power adjustment portion 8 to test section 7 and the power supply of storage part 9.

[second embodiment]

Next, explanation second embodiment.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.

Fig. 5 is the figure of the encoder apparatus EC for illustrating present embodiment.Encoder apparatus EC possesses generator unit 4 and sends out Electric unit 40.Generator unit 40 is the structure same with the generator unit 4 illustrated with reference to Fig. 2 etc..Generator unit 40 and signal Processing unit 5 is electrically connected.

Fig. 6 is the top view of the configuration for illustrating generator unit 4 and generator unit 40.As shown in fig. 6, generator unit 40 is configured In different from generator unit 4 positions in the circumference of rotary shaft SF.In the circumference of rotary shaft SF, the angle of generator unit 40 Position is set to that the angle position with generator unit 4 has phase difference.The phase difference is set greater than into 0 ° and less than 180 °.Send out The angle position of electric unit 4 is set as such as more than 45 ° and less than 135 ° with the phase difference of the angle position of generator unit 40, In Fig. 6, setting is for about 90 °.

Fig. 7 is the circuit structure diagram in the magnetic encoder portion 1 of present embodiment.Generator unit 4 possesses magnetosensitive portion 20 and sends out Electric portion 21.Generator unit 40 possesses magnetosensitive portion 41 and Power Generation Section 42.Power Generation Section 42 is by the change in the magnetic field at magnetosensitive portion 41 Produce electric power.

In the present embodiment, electric power adjustment portion 8 possesses rectistack 30, rectistack 43, capacitor 37 and adjuster 32. It is in electric power adjustment portion 8, with regard to the key element beyond rectistack 43, identical with Fig. 4.The first input end 43a of rectistack 43 with The terminal 40a connections of the electric current of forward direction are exported from generator unit 40.Second input terminal 43b of rectistack 43 with by from generating Unit 40 oppositely output current terminal 40b connection.The ground terminal 43g of rectistack 43 is connected to ground wire GL.Rectistack 43 lead-out terminal 43c is connected to the holding wire for being connected rectistack 30 with adjuster 32.Rectistack 43 is based on come self power generation list The electric current output of unit 40 carries out full-wave rectification.The electric power that have adjusted by rectification is supplied by rectistack 43 via lead-out terminal 43c It is given to adjuster 32.

In the figure 7, adjuster 32 generates assigned voltage based on the output from rectistack 30, based on from rectistack 43 Output and generate assigned voltage.Adjuster 32 is in the electric power system from rectistack 30 and the electric power system from rectistack 43 In share.

In addition it is also possible to arrange generate the adjuster 32 of assigned voltage and based on next based on the output from rectistack 30 The output of self-rectifying heap 43 generates other adjusters of assigned voltage.In addition, in the figure 7, the electric current from generator unit 4 is entered The rectistack 30 of row rectification and the rectistack 43 of rectification is carried out to the electric current from generator unit 40 it is independently arranged, but it is also possible to Rectification is carried out by 1 rectistack to the electric current from generator unit 4, and rectification is carried out to the electric current from generator unit 40.

In the present embodiment, the detecting system of the revolution in encoder apparatus EC includes test section 7 and storage part 9.Separately Outward, test section 7 includes test section 45, test section 46 and counter 27.Test section 45 detects from Power Generation Section 21 electricity for flowing through Stream.Test section 46 detects from Power Generation Section 42 electric current for flowing through.Counter 27 test section 45 is detected the number of times of electric current and Test section 46 detects the number of times of electric current and is counted.

Test section 45 includes current-to-voltage converter 48 and analog comparator 49.Current-to-voltage converter 48 is by from generating Next current transformation is flow through into the converter of voltage in portion 21.Analog comparator 49 is the electricity that will be exported from current-to-voltage converter 48 The comparator that pressure is compared with assigned voltage.

The negative pole 48a of current-to-voltage converter 48 is connected to the terminal 23a of generator unit 4.Current-to-voltage converter 48 Positive pole 48b is connected to the terminal 23b of generator unit 4.The lead-out terminal 48c of current-to-voltage converter 48 is connected to analog comparator 49 input terminal 49a.

The power supply terminal 49p of analog comparator 49 is connected to power line PL.The ground terminal 49g connections of analog comparator 49 In ground wire GL.The lead-out terminal 49c of analog comparator 49 is connected to the first input end 27a of counter 27.Simulation is compared Device 49 for example by the output voltage of current-to-voltage converter 48 with for assigned voltage determine threshold value (for example, it is stipulated that voltage The voltage of half) it is compared.Analog comparator 49 current-to-voltage converter 48 output voltage be threshold value more than situation Under export the signal of H level (high level) from lead-out terminal 48c, current-to-voltage converter 48 output voltage less than threshold value In the case of from lead-out terminal 48c export L level (low level) signal.

Test section 46 is and 45 identical structure of test section.Test section 46 includes that current-to-voltage converter 50 and simulation are compared Device 51.Current-to-voltage converter 50 is will to flow through next current transformation into the converter of voltage from Power Generation Section 42.Analog comparator 51 is the comparator for being compared the voltage exported from current-to-voltage converter 50 and assigned voltage.

The negative pole 50a of current-to-voltage converter 50 is connected to the terminal 40a of generator unit 40, and its positive pole 50b is connected to and sends out The terminal 40b of electric unit 40.The lead-out terminal 50c of current-to-voltage converter 50 is connected to the input terminal of analog comparator 51 51a。

The power supply terminal 51p of analog comparator 51 is connected to power line PL, and its ground terminal 51g is connected to ground wire GL. The lead-out terminal 51c of analog comparator 51 is connected to the second input terminal 27b of counter 27.Analog comparator 51 is electric by electric current The output voltage of buckling parallel operation 50 is compared with the threshold value determined for assigned voltage.Analog comparator 51 becomes in Current Voltage The output voltage of parallel operation 50 be threshold value more than in the case of from lead-out terminal 50c export H level signal, less than threshold value feelings The signal of L level is exported under condition from lead-out terminal 50c.

So, 45 pairs of electric power from the output of Power Generation Section 21 of test section carry out binaryzation, and test section 46 pairs is defeated from Power Generation Section 42 The electric power for going out carries out binaryzation.The H that counter 27 is exported by the signal of the H level exported from test section 45 and from test section 46 The signal of level is used as control signal, and the revolution of rotary shaft SF is counted.Counter 27 is by the result for being counted to get It is supplied to storage part 9.Storage part 9 stores the information of the revolution from the supply of counter 27.

Fig. 8 is the sequential chart of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (rotating forward). Fig. 9 is the sequential chart of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (counter-rotating).

" angle position " of Fig. 8 and Fig. 9 represents the magnetic by generator unit 4 is configured on the position 3d of magnet 3 (with reference to Fig. 6) The angle position of iron 3 is set to 0 °, is set to the angle position of positive magnet 3 counterclockwise." configuration " of Fig. 8 and Fig. 9 represents each angle The position relationship of magnet 3, generator unit 4 and generator unit 40 at degree position.Additionally, in the case that angle position is 0 ° The configuration of each key element is equivalent to the configuration shown in Fig. 6.With regard to magnet 3, N pole of the hatched part equivalent to Fig. 6 is attached with, not The part of additional shadow line is equivalent to S poles.

With regard to " magnetic field " of Fig. 8 and Fig. 9, solid line represents the magnetic field at the position of generator unit 4, and dotted line represents generator unit Magnetic field at 40 position.With regard to magnetic field, just (+) will be set to the magnetic field of inner side from the outside of magnet 3, by from magnet 3 The magnetic field of laterally outside is set to bear (-).

" generator unit 1 " of Fig. 8 and Fig. 9 represents the output of generator unit 4, and " generator unit 2 " represents generator unit 40 Output.With regard to " generator unit 1 " and " generator unit 2 ", the output of the electric current flowed to a direction from each generator unit is set For just (+), the output of the electric current to its opposite direction flowing is set to bear (-)." adjuster " of Fig. 8 and Fig. 9 represents adjuster 32 Output, with " H " represent H level, with " L " represent L level.

" comparator 1 " of Fig. 8 and Fig. 9 represents the output of analog comparator 49, and " comparator 2 " represents analog comparator 51 Output.With regard to the output of each comparator, " RISE " is to represent that the output of generator unit is the RISE signals of positive electric current.With regard to The output of each comparator, " FALL " are to represent that the output of generator unit is the FALL signals of reverse electric current.With regard to RISE " and " FALL, represents H level with " H ", represents L level with " L ".

With regard to " storage part " of Fig. 8 and Fig. 9, " state " represents that storage part 9 is in reset state in SM set mode. With regard to " state ", represented in SM set mode with " H ", represented in reset state with " L ".With regard to " the storage of Fig. 8 and Fig. 9 Whether portion ", " write activity " represent storage part 9 in write activity.With regard to " write activity ", represented in write with " H " In action, represented with " L " and be not in write activity." counter " of Fig. 8 and Fig. 9 represents the revolution stored in storage part 9.

First, with reference to Fig. 8, the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise.Generator unit 4 At 90 ° of angle position, the current impulse (" generator unit 1 " negative) of reverse flow is exported.In addition, generator unit 4 is in angle At 270 ° of position, the current impulse (" generator unit 1 " just) of forward flow is exported.

Generator unit 40 is configured in the circumference of magnet 3 position that 90 ° are offset by with generator unit 4.Therefore, generate electricity single The magnetic field that unit 40 feels 90 ° of phase offset compared with the magnetic field that generator unit 4 is felt.Generator unit 40 is 180 ° of angle position Place, exports the current impulse (" generator unit 2 " negative) of reverse flow.In addition, generator unit 40 is at 0 ° of angle position, output The current impulse (" generator unit 2 " just) of forward flow.

When respectively at 270 ° of 90 ° of angle position and angle position from 4 output current pulse of generator unit, adjuster 32 The electric power of output assigned voltage.In addition, electricity ought be exported from generator unit 40 at 180 ° of 0 ° of angle position and angle position respectively During stream pulse, adjuster 32 exports the electric power of assigned voltage.Additionally, each current impulse is 20V's or so equivalent to such as voltage Electric power, the time that electric current flows through are several microseconds.Adjuster 32 makes to be reduced to rule based on the voltage of the electric power of each current impulse Determine voltage (such as 3V), make the duration of power supply elongated.In addition, the output of adjuster 32 compares each during being H level The rising edge of current impulse is to long during trailing edge.

With regard to the output of analog comparator 49 (" comparator 1 "), RISE signals are tieed up in the state of power supply is not received Be held in L level, the output of the generator unit 4 at 270 ° of accepts angle position and become H level.FALL signals are not receiving electric power L level is maintained in the state of supply, the output of the generator unit 4 at 90 ° of accepts angle position and become H level.Shown in Fig. 7 Counter 27 detect the RISE signals from analog comparator 49 be L level and FALL signals be H level situation Under, would indicate that the rising signal for making count value (revolution) go up by (+1) output to storage part 9.

With regard to the output of analog comparator 51 (" comparator 2 "), RISE signals are tieed up in the state of power supply is not received Be held in L level, the output of the generator unit 40 at 0 ° of accepts angle position and become H level.FALL signals are not receiving electric power L level is maintained in the state of supply, the output of the generator unit 40 at 180 ° of accepts angle position and become H level.

Storage part 9 is set to SM set mode when the H level of RISE signals is exported from analog comparator 51.Storage part 9 When receiving from the rising signal of counter 27 in the case of in SM set mode, the revolution for being stored is updated to increase It is worth obtained from plus 1.For example, in rise action is counted, the revolution stored in reading storage part 9 will make this turn to counter 27 Number increases revolution obtained from 1 as rising signal output to storage part 9.Storage part 9 is exporting FALL from analog comparator 51 Reset state is set to during the H level of signal.

Magnetic encoder portion 1 is exported from generator unit 4 or generator unit 40 whenever the rotation along with rotary shaft SF During electric power, action as described above is performed.Figure 8 illustrates the magnetic encoder portion 1 in a period of rotary shaft SF rotates 2 turns Action, magnetic encoder portion 1 carry out same action in initial rotation and the ensuing rotation of Fig. 8.For example, n-th At 0 ° of the angle position for turning, the revolution that is stored in storage part 9 is n, and at 90 ° of angle position, rising signal is supplied by counter 27 Storage part 9 is given to, the count value for being stored is updated to n+1 by storage part 9.In ensuing rotation similarly, in angle At 90 ° of position, rising signal is supplied to storage part 9 by counter 27, and the count value for being stored is updated to n+2 by storage part 9.

Next, with reference to Fig. 9, the action in the magnetic encoder portion 1 when illustrating that rotary shaft SF turns clockwise.Generator unit 4 at 90 ° of 270 ° of the angle position of having turned clockwise from 0 ° of angle position, and the current impulse for exporting reverse flow (" generates electricity single Unit 1 " bears).In addition, generator unit 4 is at 270 ° of 90 ° of the angle position of having turned clockwise from 0 ° of angle position, output is just To the current impulse (" generator unit 1 " just) of flowing.

Generator unit 40 exports the current impulse (" generator unit 2 " negative) of reverse flow at 0 ° of angle position.Separately Outward, generator unit 40 is at 180 ° of angle position, exports the current impulse (" generator unit 2 " just) of forward flow.

When respectively at 270 ° of 90 ° of angle position and angle position from 4 output current pulse of generator unit, adjuster 32 The electric power of output assigned voltage.In addition, exporting electricity from generator unit 40 at 180 ° of 0 ° of angle position and angle position respectively During stream pulse, adjuster 32 exports the electric power of assigned voltage.

With regard to the output of analog comparator 49, RISE signals are maintained at L level in the state of power supply is not received, Receive the output of generator unit 4 and become H level at 90 ° of angle position.FALL signals are not in the state of power supply is received L level is maintained at, is received the output of generator unit 4 at 270 ° of angle position and is become H level.Counter 27 shown in Fig. 7 It is H level and in the case that FALL signals are L level the RISE signals from analog comparator 49 are detected, would indicate that makes Count value (revolution) declines the dropping signal output of (- 1) to storage part 9.

With regard to the output of analog comparator 51, RISE signals are maintained at L level in the state of power supply is not received, Receive the output of generator unit 40 and become H level at 0 ° of angle position.FALL signals are not in the state of power supply is received L level is maintained at, is received the output of generator unit 40 at 180 ° of angle position and is become H level.Storage part 9 is from simulation ratio When the H level of RISE signals is exported compared with device 51, be set as SM set mode.Storage part 9 ought be connect in the case of in SM set mode Received from the dropping signal of counter 27 when, by the revolution for being stored be updated to reduce 1 obtained from value.For example, counter 27 in down maneuver is counted, the revolution stored in reading storage part 9, and the revolution will be made to reduce revolution obtained from 1 as upper The signal output that rises is to storage part 9.Storage part 9 is set to reset when the H level of FALL signals is exported from analog comparator 51 State.

Magnetic encoder portion 1 is exported from generator unit 4 or generator unit 40 whenever the rotation along with rotary shaft SF During electric power, action as described above is performed.Figure 9 illustrates the magnetic encoder portion 1 in a period of rotary shaft SF rotates 2 turns Action, magnetic encoder portion 1 carry out same action in initial rotation and the ensuing rotation of Fig. 8.For example n-th+2 At 0 ° of the angle position for turning, the revolution that is stored in storage part 9 is n+2, is located in 90 ° of the angle position that have rotated -270 °, counting Dropping signal is supplied to storage part 9 by device 27, and the count value for being stored is updated to n+1 by storage part 9.In ensuing rotation Similarly, at 90 ° of angle position, dropping signal is supplied to storage part 9 by counter 27, and storage part 9 is by the meter for being stored Numerical value is updated to n.

The magnetic encoder portion 1 of present embodiment as described above is present from the defeated of Power Generation Section 21 or Power Generation Section 42 A series of action is carried out when going out.In addition, magnetic encoder portion 1 is without either one in Power Generation Section 21 and Power Generation Section 42 Output during, maintain action current be zero state.So, magnetic encoder portion 1 is passed through with the position of the regulation of magnet 3 The situation of the vicinity of generator unit 4 or generator unit 40 correspondingly carries out dynamic driving.Therefore, 1 energy of magnetic encoder portion Enough save for provide by detecting system consumption electric power battery, make the life-span elongated.

But, storage part 9 becomes SM set mode by the RISE signals from analog comparator 51, by FALL signals And become reset state.That is, in the case of interval of the angle position of magnet 3 in 0 ° to 180 °, becoming can for storage part 9 The state of write.The result of the electric current detected from Power Generation Section 42 is used to judge magnetic including the test section 46 of analog comparator 51 Whether the angle position of iron 3 is in 0 ° to 180 ° of interval.So, the magnetic encoder portion 1 of present embodiment being capable of a frontier inspection The angle position for surveying magnet 3 is interval in which, detects the revolution of magnet 3.

[the 3rd embodiment]

Next, the 3rd embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.

Figure 10 is the figure of the encoder apparatus EC for illustrating present embodiment.Encoder apparatus EC possesses 4 He of generator unit Magnetic Sensor 55.Magnetic Sensor 55 is electrically connected with signal processing part 5.The electric power that Magnetic Sensor 55 is produced using generator unit 4, inspection Survey the changes of magnetic field of the rotation with magnet 3.

Figure 11 (A) is the top view of the configuration for illustrating Magnetic Sensor 55.Magnetic Sensor 55 is configured in the circumference of magnet 3 The position different from generator unit 4.In the circumference of rotary shaft SF, the angle position of Magnetic Sensor 55 is set to and generator unit 4 angle position has phase difference.The phase difference is set greater than into 0 ° and less than 180 °.By the angle position of generator unit 4 It is set as such as more than 45 ° and less than 135 ° with the phase difference of the angle position of Magnetic Sensor 55, the setting in Figure 11 (A) is for about 90°。

Figure 11 (B) is the circuit structure diagram of Magnetic Sensor 55.Magnetic Sensor 55 possess magnetoresistive element 56, to magneto-resistor unit Part 56 provides the bias magnet (not shown) in the magnetic field of constant intensity and the waveform from magnetoresistive element 56 is carried out whole The waveform shaping circuit (not shown) of shape.Magnetoresistive element 56 is carried out to component 56a, component 56b, component 56c and component 56d The full-bridge shape of series wiring.Holding wire between component 56a and component 56c is connected to power supply terminal 55p.Component 56b Ground terminal 55g is connected to the holding wire between component 56d.Holding wire between component 56a and component 56b is connected to first Lead-out terminal 55a.Holding wire between component 56c and component 56d is connected to the second lead-out terminal 55b.

Figure 12 is the circuit structure diagram in the magnetic encoder portion 1 of present embodiment.The inspection of the revolution in encoder apparatus EC Examining system includes test section 7 and storage part 9.In addition, magnetic encoder portion 1 possesses test section 45 and test section 57.Test section 45 As illustrated in this second embodiment, by detection from the electric current of Power Generation Section 21, the angle position of magnet 3 is detected. Test section 57 possesses Magnetic Sensor 55 and analog comparator 58.Test section 57 detects the changes of magnetic field of the rotation with magnet 3.

The power supply terminal 55p of Magnetic Sensor 55 is connected to power line PL.The ground terminal 55g of Magnetic Sensor 55 is connected to and connects Ground wire GL.The lead-out terminal of Magnetic Sensor 55 is connected to analog comparator 58.In the present embodiment, the output of Magnetic Sensor 55 Terminal exports the voltage of the current potential equivalent to the second lead-out terminal 55b shown in Figure 11 (b) and the difference of reference potential.Simulation is compared Device 58 exports the signal of H level from lead-out terminal in the case of being more than threshold value in the output voltage of Magnetic Sensor 55, be less than The signal of L level is exported in the case of threshold value from lead-out terminal.The power supply terminal 58p of analog comparator 58 is connected to power line PL.The ground terminal 58g of analog comparator 58 is connected to ground wire GL.The lead-out terminal 58b of analog comparator 58 is connected to meter Number device 27.

Figure 13 is the sequential of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (rotating forward) Figure.Figure 14 is the sequential chart of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (counter-rotating).With regard to " angle position ", " configuration ", " counter " are identical with Fig. 8.With regard to magnetic field, it is represented by dashed line what magnet 3 was provided to magnetic coder Magnetic field.With regard to " generator unit ", " adjuster ", " comparator 1 ", represent respectively the output of generator unit 4, adjuster 32 it is defeated Go out, the output of analog comparator 49.

In fig. 13, with regard to " magnetic field on MR sensors ", the magnetic field formed by magnet 3 is represented with long dotted line, use short void Line represents the magnetic field formed by bias magnet, their resultant magnetic field indicated by the solid line." MR sensors " is represented and drives magnetic all the time Output during sensor, is represented by dashed line the output of first lead-out terminal 55a from Figure 11 (B), indicated by the solid line from The output of two lead-out terminal 55b." comparator 2 " represents the output from analog comparator 58.In the present embodiment, magnetic sensing Device 55 is so-called dynamic driving (intermittent driving), is driven, not from generating in a period of from 4 output power of generator unit Do not driven in a period of 4 output power of unit.In fig. 13, the simulation in the case of driving Magnetic Sensor 55 all the time is compared The output of device 58 is shown as " driving all the time ", and the output of the analog comparator 58 in the case of intermittent driving Magnetic Sensor 55 is shown as " intermittent driving ".

First, with reference to Figure 13, the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise.Generator unit 4 At 90 ° of angle position, the current impulse (" generator unit " negative) of reverse flow is exported.In addition, generator unit 4 is in angle position Put at 270 °, export the current impulse (" generator unit " just) of forward flow.When in 270 ° of 90 ° of angle position and angle position Place from 4 output current pulse of generator unit when, adjuster 32 export assigned voltage electric power.

With regard to " magnetic field on MR sensors ", the angle position of the direction regardless of magnet 3 of bias magnetic field (short dash line) It is all constant, it is the direction from the center of magnet 3 to position 3d (with reference to Figure 11 (A)).

The direction in the magnetic field (long dotted line) formed by magnet 3 is more than 0 ° of angle position and less than 180 ° of angle position In the range of from bias magnetic field rotate counterclockwise 90 ° of direction.The direction (solid line) of resultant magnetic field is more than 0 ° of angle position And less than the direction of the angle in the range of 180 ° of angle position from bias magnetic field rotate counterclockwise more than 0 ° and less than 90 °.

The direction in the magnetic field (long dotted line) formed by magnet 3 is more than 180 ° of angle position and less than 360 ° of angle position Turned clockwise in the range of (0 ° of ensuing rotation) 90 ° of direction from bias magnetic field.The direction of resultant magnetic field is (real Line) it is to turn clockwise more than 0 ° from bias magnetic field more than 180 ° of angle position and less than in the range of 360 ° of angle position And the direction of the angle less than 90 °.

Output (dotted line) from first lead-out terminal 55a of Magnetic Sensor 55 is from 0 ° of angle position to angle position It is negative sinusoidal wave shape in the range of 180.From Magnetic Sensor 55 the second lead-out terminal 55b output (solid line) from angle position Set to 0 ° is positive sinusoidal wave shape to angle position 180.The output of the analog comparator 58 for driving all the time is in Magnetic Sensor The output of 55 the second lead-out terminal 55b be it is negative in the state of be held in L level, from 180 ° of 0 ° of angle position to angle position In the range of become H level.In fact, Magnetic Sensor 55 and analog comparator 58 are during from 4 output power of generator unit Inside it is selectively driven, so the output of the analog comparator 58 of intermittent driving is kept in the state of power supply is not received In L level, from the range of 180 ° of 0 ° of angle position to angle position, become in a period of from 4 output power of generator unit Into H level.

Counter 27 shown in Figure 12 is L level and FALL the RISE signals from analog comparator 49 are detected It is to make counter increase by 1 in the case of H level that signal is the output signal of H level and analog comparator 58, and storage part 9 will The revolution for being stored is updated to increase value obtained from 1.

Next, with reference to Figure 14, the action in the magnetic encoder portion 1 when illustrating that rotary shaft SF turns clockwise.Generate electricity single Unit 4 exports the current impulse (" generating of reverse flow at 90 ° of 270 ° of the angle position place of having turned clockwise from 0 ° of angle position Unit " it is negative).In addition, generator unit 4 is at 270 ° of 90 ° of the angle position of having turned clockwise from 0 ° of angle position, output is just To the current impulse (" generator unit " just) of flowing.Respectively at 270 ° of 90 ° of angle position and angle position, single from generating electricity During first 4 output current pulse, adjuster 32 exports the electric power of assigned voltage.

With regard to the output of analog comparator 49, RISE signals are maintained at L level in the state of power supply is not received, Receive the output of generator unit 4 and become H level at 90 ° of angle position.FALL signals are maintained at L level, in angle position Receive the output of generator unit 4 at 270 ° and become H level.Counter 27 shown in Figure 12 is being detected from analog comparator 49 RISE signals are H level and FALL signals are the L levels and output signal from analog comparator 58 is H level In the case of, make counter reduce 1, the revolution for being stored is updated to reduce value obtained from 1 by storage part 9.

The magnetic encoder portion 1 of present embodiment as described above carries out one when existing from the output of Power Generation Section 21 The action of row.In addition, magnetic encoder portion 1 is not having in a period of the output of Power Generation Section 21 to maintain action current to be zero State.So, the situation of the vicinity that the position of magnetic encoder portion 1 and the regulation of magnet 3 has passed through generator unit 4 is correspondingly entered Mobile state drives.Therefore, magnetic encoder portion 1 can save for provide by detecting system consumption electric power battery, make the longevity Life is elongated.

In the present embodiment, including Magnetic Sensor 55 and analog comparator 58 test section 57 output in magnet 3 In the case that angle position is in 0 ° to 180 ° of interval, become H level.That is, the detection of Magnetic Sensor 55 is tied by test section 57 Fruit is used to judge whether the angle position of magnet 3 to be in 0 ° to 180 ° of interval.So, the magnetic encoder portion of present embodiment 1 can be while detect that the revolution of magnet 3, in which interval, is detected in the angle position of magnet 3.

But, the magnetic field that magnet 3 is formed at Magnetic Sensor 55 is stronger, then the output of Magnetic Sensor 55 is bigger, from mould The output for intending comparator 58 is more stable, so the robustness in magnetic encoder portion 1 is higher.Here, Magnetic Sensor 55 from send out Driven in a period of 4 output power of electric unit, so being configured at the strong position in the magnetic field formed in this period internal magnet 3 i.e. Can.In addition, sending out when generator unit 4 is near 270 ° of 90 ° of the angle position of magnet 3 or angle position are by generator unit 4 Electricity, so Magnetic Sensor 55 is when the phase difference in the circumference of magnet 3 with generator unit 4 is more than 45 ° and less than 135 °, appearance Easily guarantee output, when for about 90 °, output is maximum.

[the 4th embodiment]

Next, the 4th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.

Figure 15 is the figure of the encoder apparatus EC for illustrating present embodiment.Encoder apparatus EC possesses generator unit 4, sends out Electric unit 40, Magnetic Sensor 55 and Magnetic Sensor 60.With regard to generator unit 4 and generator unit 40 and electric power adjustment portion 8, with The second embodiment illustrated with reference to Fig. 5, Fig. 7 etc. is identical.Magnetic Sensor 55 and Magnetic Sensor 60 respectively with signal processing part 5 Electrical connection.Magnetic Sensor 55 and Magnetic Sensor 60 are utilized respectively the electric power that generator unit 4 and generator unit 40 are produced, and detect adjoint The changes of magnetic field of the rotation of magnet 3.Magnetic Sensor 60 is the knot same with the Magnetic Sensor 55 illustrated with reference to Figure 11 (B) etc. Structure.

Figure 16 is the top view of the configuration for illustrating Magnetic Sensor 55 and Magnetic Sensor 60.Week of the generator unit 40 in magnet 3 Offset 90 ° of ground configurations upwards with generator unit 4.Magnetic Sensor 55 is set with the phase difference of generator unit 40 in the circumference of magnet It is set to the scope of such as more than 45 ° and less than 135 °, in figure 16, is set for about 45 °.Circumference of the Magnetic Sensor 60 in magnet The phase difference of upper and generator unit 40 is set to the scope of such as more than 45 ° and less than 135 °, in figure 16, is set for about 135°.In addition, in figure 16, Magnetic Sensor 60 is configured at the angle position that 90 ° are offset by with Magnetic Sensor 55, is configured at inverse Hour hands are just and from generator unit 4 to offset by -135 ° of angle position.

Figure 17 is the circuit structure diagram in the magnetic encoder portion 1 of present embodiment.In the present embodiment, magnetic encoder Portion 1 possesses the output in self power generation in future portion 21 and the output from Power Generation Section 42 detects the first inspection of revolution as detection signal Examining system and revolution is detected as detection signal using the output from Magnetic Sensor 55 and from the output of Magnetic Sensor 60 The second detecting system.It is with regard to the first detecting system, identical with second embodiment.Second detecting system possesses Magnetic Sensor 55th, analog comparator 58, Magnetic Sensor 60, analog comparator 61, counter 62 and storage part 63.

The power supply terminal 55p of Magnetic Sensor 55 is connected to power line PL.The ground terminal 55g of Magnetic Sensor 55 is connected to and connects Ground wire GL.The lead-out terminal of Magnetic Sensor 55 is connected to the input terminal 58a of analog comparator 58.The power supply of analog comparator 58 Terminal 58p is connected to power line PL.The ground terminal 58g of analog comparator 58 is connected to ground wire GL.Analog comparator 58 Lead-out terminal 58b is connected to the first input end 62a of counter 62.

The power supply terminal 60p of Magnetic Sensor 60 is connected to power line PL.The ground terminal 60g of Magnetic Sensor 60 is connected to and connects Ground wire GL.The lead-out terminal of Magnetic Sensor 60 is connected to the input terminal 61a of analog comparator 61.The power supply of analog comparator 61 Terminal 61p is connected to power line PL.The ground terminal 61g of analog comparator 61 is connected to ground wire GL.Analog comparator 61 Lead-out terminal 61b is connected to the second input terminal 62b of counter 62.

Counter 62 includes such as CMOS logic circuit etc., by the voltage supplied via first input end 62a and Jing By the voltage of the second input terminal 62b supplies as control signal, counting process is carried out.The power supply terminal 62p of counter 62 connects It is connected to power line PL.The ground terminal 62g of counter 62 is connected to ground wire GL.Counter 62 is using via power supply terminal 62p With the electric power of ground terminal 62q supplies, counting process is carried out.The result for counting process is supplied to storage part 63 by counter 62.

Storage part 63 includes nonvolatile memory 64, stores the information related to the count results of counter 62.Storage Portion 63 stores turning for the magnet 3 that counts to get using the testing result of the testing result and Magnetic Sensor 60 of Magnetic Sensor 55 Number.The power supply terminal 63p of storage part 63 is connected to power line PL.The ground terminal 63g of storage part 63 is connected to ground wire GL.Deposit Using the electric power supplied via power supply terminal 63p and ground terminal 63g, the storage in nonvolatile memory 64 is believed in storage portion 63 Breath.

Figure 18 is the sequential chart of the action for illustrating magnetic encoder portion 1.In figure 18, " magnetic field on MR sensors 1 " is The magnetic field being formed on Magnetic Sensor 55.With regard to " magnetic field on MR sensors 1 ", the magnetic formed by magnet 3 is represented with long dotted line , the magnetic field formed by bias magnet, their resultant magnetic field indicated by the solid line are represented with short dash line." MR sensors 1 " is represented All the time output during Magnetic Sensor 55 is driven, the output from first lead-out terminal 55a (with reference to Figure 11 (B)) is represented by dashed line, Output from the second lead-out terminal 55b indicated by the solid line." comparator 3 " represents the output from analog comparator 58.At this In embodiment, Magnetic Sensor 55 is so-called dynamic driving (intermittent driving), in a period of from 4 output power of generator unit Driven, do not driven in a period of 4 output power of generator unit.In figure 18, Magnetic Sensor 55 will be driven all the time In the case of the output of analog comparator 58 be shown as " all the time drive ", by the simulation in the case of intermittent driving Magnetic Sensor 55 The output of comparator 58 is shown as " intermittent driving ".

In figure 18, the magnetic field that " magnetic field on MR sensors 2 " is formed on Magnetic Sensor 60.With regard to " MR sensors 2 On magnetic field ", represent the magnetic field formed by magnet 3 with long dotted line, represent the magnetic field formed by bias magnet with short dash line, with reality Line represents their resultant magnetic field." MR sensors 2 " represent all the time drive Magnetic Sensor 60 when output, be represented by dashed line from The output of first lead-out terminal, the output from the second lead-out terminal indicated by the solid line." comparator 4 " is represented and is compared from simulation The output of device 61.In figure 18, the output of the analog comparator 61 in the case of driving Magnetic Sensor 60 all the time is shown as " all the time Drive ", the output of the analog comparator 61 in the case of intermittent driving Magnetic Sensor 60 is shown as into " intermittent driving ".

In the present embodiment, the electric current output in self power generation in future portion 21 and the electric current output conduct inspection from Power Generation Section 42 Survey signal and detect that the first detecting system of revolution carries out action in the same manner as second embodiment.Here, magnetic is sensed Centered on the output of device 55 and the output of Magnetic Sensor 60 detect the action of the second detecting system of revolution as detection signal To illustrate.The output of Magnetic Sensor 60 is exported with 90 ° of phase difference with Magnetic Sensor 60, and the second detecting system is utilized The phase difference is detecting revolution.

First, the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise.(" MR is sensed Magnetic Sensor 55 Device 1 ") output be positive sinusoidal wave shape from the range of 180 ° of 0 ° of angle position to angle position.In the angular range, send out The output power at 45 ° of the angle position of electric unit 40, the output power at 135 ° of the angle position of generator unit 4.Magnetic Sensor 55 With analog comparator 49 by respectively in the electric power of 45 ° of angle position and the supply of 135 ° of angle position place driving.From simulation ratio L level is maintained in the state of power supply is not received compared with the signal (hereinafter referred to as A phase signals) of the output of device 58, is existed respectively Become H level at 135 ° of 45 ° of angle position and angle position.

In addition, the output of Magnetic Sensor 60 (" MR sensors 2 ") is 90 ° of 270 ° of angle position (- 90 °) to angle position In the range of be positive sinusoidal wave shape.In the angular range, generator unit 4 in 315 ° of angle position (- 45 °) place output power, The output power at 45 ° of the angle position of generator unit 40.Magnetic Sensor 60 and analog comparator 61 pass through respectively in angle position The electric power of 315 ° and the supply of 45 ° of angle position place is driving.From the signal of the output of analog comparator 61, (hereinafter referred to as B believes Number) L level is maintained in the state of power supply is not received, become H at 45 ° of 315 ° of angle position and angle position respectively Level.B phase signals are 90 ° of the signals of phase offset compared with A phase signals.

Here, the A phase signals for being supplied to counter 62 be H level (H), the B phase signals that are supplied to counter 62 be L In the case of level, such as (H, L) represents the group of these signal levels like that.In figure 18, the signal electricity at 315 ° of the angle position Flat group is (L, H), and the group of signal level is (H, H) at 45 ° of the angle position, the group of signal level at 135 ° of the angle position It is (H, L).

Counter 62 differentiates direction of rotation, while counting to revolution using A phase signals and the phase difference of B phase signals. For example, counter 62 is being stored in the case where the one side or both sides in the A phase signals for detecting with B phase signals is H level The group of signal level is stored in portion 63.A side or double of the counter 62 in the A phase signals for next detecting with B phase signals In the case that side is H level, the group of the level of last time is read from storage part 63, the group and this level to the level of last time Group is compared and judges direction of rotation.

For example, the group in this signal level is in the case that (H, L), the signal level of last time are (H, H), at this It is 135 ° of angle position in detection, is 45 ° of angle position in last time detection, so it is (rotating forward) counterclockwise to understand.Separately Outward, it, in the case that (H, L), the signal level of last time are (L, H), is angle in this detection that the group in this signal level is 135 ° of position of degree, is 315 ° of angle position (- 45 °) in last time detection, so it is (counter-rotating) clockwise to understand.

Counter 62 the group of this level be (H, L), and last time level group be (H, H) in the case of, will Expression makes the rising signal that counter goes up be supplied to storage part 63.Storage part 63 is detecting the rise letter from counter 62 In the case of number, the revolution for being stored is updated to increase value obtained from 1.Counter 62 in the group of this level be (H, L), and the level of last time group be (L, H) in the case of, would indicate that make counter decline dropping signal be supplied to storage part 63.Storage part 63 be updated to reduce 1 detecting in the case of the dropping signal of counter 62, by the revolution for being stored and The value for obtaining.

In the magnetic encoder portion 1 of present embodiment as described above, the output in self power generation in future portion 21 and come it is spontaneous The output in electric portion 42 is sensed as the first detecting system of detection signal and by the output from Magnetic Sensor 55 and from magnetic The output of device 60 detects revolution respectively as the second detecting system of detection signal.The testing result of the second detecting system is for example led to Cross and compare with the testing result of the first detecting system, can be used in detection abnormal etc..Encoder apparatus EC can both possess into The abnormal detector of abnormality detection as row, it is also possible to possess the notice device of the testing result for notifying abnormal.In addition, this At least one party in the abnormal detector and notice device of sample can also be the device of the outside of encoder apparatus EC.In addition, In the case where failure due to the first detecting system etc. cannot read revolution from storage part 9, it is also possible to by the second detection be The detected revolution of system reads from storage part 63 and replaces the testing result of the first detecting system to use.

[the 5th embodiment]

Next, the 5th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.

Figure 19 is the figure of the encoder apparatus EC for illustrating present embodiment.Encoder apparatus EC in the above-described embodiment Magnetic encoder portion 1 is not receive to carry out the device of the self of a series of action from the supply of outside electric power, but The electric power consumed by the detecting system of the revolution of detection rotary shaft SF can be provided to the connection of the magnetic encoder portion 1 of Figure 15 extremely At least part of supply unit 80.

The supply unit 80 includes battery 81 and battery 82.Battery 81 and battery 82 are one-shot battery, secondary cell respectively Deng.Battery 81 has the electromotive force of first voltage (for example, 3.6V), and battery 82 is with the second voltage different from first voltage The electromotive force of (for example, 5.0V).The negative pole of the negative pole and battery 82 of battery 81 is connected with ground terminal 63 via ground wire GL2 Connect.

The positive pole of battery 81 is connected with the first power supply terminal 85 via fuse 84.The positive pole of battery 82 is via switch 86 With fuse 87, it is connected with second source terminal 88.Node 89a's and ground wire GL2 between switch 86 and fuse 87 Between node 89b, connect capacitor 90.

In addition, loading the circuit 91 for receiving the electric power from supply unit 80 in encoder apparatus EC.Encoder apparatus EC possesses the first power supply terminal 92, second source terminal 93 and ground terminal 94.First power supply terminal of encoder apparatus EC 92 are connected with the first power supply terminal 85 of supply unit 80.The second source terminal 88 of encoder apparatus EC and supply unit 80 Second source terminal 93 connects.The ground terminal 94 of encoder apparatus EC is connected with the ground terminal 94 of supply unit 80.

First power supply terminal 92 is connected to the power line PL in magnetic encoder portion 1 via diode 95.Second source terminal 88, via coil 96 and diode 97, are connected to the power line PL in magnetic encoder portion 1.So, supply unit 80 can be to magnetic 1 supply electric power of formula encoder portion.

The electric power that the encoder apparatus EC of present embodiment is produced using Power Generation Section driving the detecting system of revolution, so The life-span of supply unit 80 can be made elongated.As a result, the maintenance frequency of supply unit 80 for example, can be reduced, can reduce The maintenance frequency of encoder apparatus EC.Additionally, supply unit 80 can both include the electricity to 2 supply electric power of optical encoders, angle sensors portion At least a portion of power feed system, it is also possible to electricity is supplied to magnetic encoder portion 1 in the driving in optical encoders, angle sensors portion 2 Power.The electric power supply system can also for example be the main power source for installing the various devices such as the robot device of encoder apparatus EC.

[the 6th embodiment]

Next, the 6th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.In the encoder apparatus EC of present embodiment, signal transacting Portion 5 possesses test section 7, electric power adjustment portion 8 and storage part 9 in the same manner as Figure 10.The magnetic formed according to magnet 3 by test section 7 The change of field, detects the rotation information of rotary shaft SF.In test section 7, the revolution of rotary shaft SF is detected as rotation information. Test section 7 includes Magnetic Sensor 55.Magnetic Sensor 55 is electrically connected with signal processing part 5.Magnetic Sensor 55 is produced using generator unit 4 Raw electric power, detects the magnetic field formed by magnet 3.

The electric power exported from generator unit 4 is adjusted to electric power adjustment portion 8 electric power of assigned voltage.Electric power adjustment portion 8 is supplied At least a portion of at least a portion and the electric power consumed by storage part 9 to the electric power consumed by test section 7.Storage part 9 Using the electric power exported from electric power adjustment portion 8, the testing result of test section 7 is stored.

Figure 20 (A) is the stereogram for illustrating magnet 3, generator unit 4 and Magnetic Sensor 55.Figure 20 (B) is to illustrate magnet 3 The figure in the magnetic field for being formed.Figure 20 (C) is the circuit structure diagram of Magnetic Sensor 55.Magnet 3 can be and Fig. 2 identical structures. Magnet 3 is the part of for example coaxial with rotary shaft SF annular shape.Magnet 3 can also be configured to bar-shaped magnet.Generator unit 4 can To be and Fig. 2 identical structures.Additionally, by make from Power Generation Section 21 flow through come sense of current and coil winding reversely, Also can set on the contrary.Magnetic Sensor 55 for example can be identical with Figure 11 (A) and (B).

Figure 21 is the figure of the circuit structure for illustrating magnetic encoder portion 1.The magnetic encoder portion 1 of present embodiment includes inspection Survey rotary shaft SF revolution and store the detecting system of revolution for detecting and provide by detecting system consumption electric power extremely At least part of electric power supply system.Here, detecting system is illustrated first, next illustrate electric power supply system.

The detecting system in magnetic encoder portion 1 includes test section 7 and storage part 9.Test section 7 includes test section 126, detection Portion 127 and counter 128.Test section 126 is the magnetic-field detecting unit of the change in the magnetic field for detecting that magnet 3 is formed.Test section 127 is to detect the electric power test section of the rotation information of rotary shaft SF according to the change of the electric power from the output of Power Generation Section 21.Count Device 128 is counted to the revolution of rotary shaft SF using the testing result of the testing result and test section 127 of test section 126.

Test section 126 possesses Magnetic Sensor 55 and analog comparator 129.The power supply terminal 55p of Magnetic Sensor 55 is connected to Power line PL.The ground terminal 55g of Magnetic Sensor 55 is connected to the ground wire GL being supplied to signal ground SG identical current potentials. The lead-out terminal of Magnetic Sensor 55 is connected to the input terminal 129a of analog comparator 129.Magnetic Sensor 55 is using via power supply The electric power of terminal 55p and ground terminal 55g supplies, detects the magnetic field that formed of magnet 3, and by its testing result (detection signal) Export analog comparator 129.In the present embodiment, the lead-out terminal of Magnetic Sensor 55 is exported equivalent to Figure 20 (C) Suo Shi The second lead-out terminal 55b current potential and reference potential difference voltage.

Analog comparator 129 is the comparator being compared to the voltage exported from Magnetic Sensor 55 and assigned voltage.Mould The power supply terminal 129p for intending comparator 129 is connected to power line PL.The ground terminal 129g of analog comparator 129 is connected to ground connection Line GL.Analog comparator 129 by the electric power that supplies via power supply terminal 129p and ground terminal 129g, to from Magnetic Sensor 55 The voltage of output carries out binaryzation.Analog comparator 129 Magnetic Sensor 55 output voltage be threshold value more than in the case of from The signal of lead-out terminal output H level (high level), from lead-out terminal output L level (low level) in the case of less than threshold value Signal.The lead-out terminal 129b of analog comparator 129 is connected to the first input end 128a of counter 128.Simulation is compared Device 129 is via lead-out terminal 129b, the first input end 128a supply H levels or the signal of L level to counter 128.

Test section 127 includes current-to-voltage converter 130 and analog comparator 131.Current-to-voltage converter 130 be by from Next current transformation is flow through into the converter of voltage in Power Generation Section 21.The negative pole 130a of current-to-voltage converter 130 is connected to generating The terminal 23a of unit 4.The positive pole 130b of current-to-voltage converter 130 is connected to the terminal 23b of generator unit 4.Current Voltage becomes The lead-out terminal 133c of parallel operation 130 is connected to the input terminal 131a of analog comparator 31.

Analog comparator 131 is the ratio that voltage and assigned voltage to exporting from current-to-voltage converter 130 are compared Compared with device.The power supply terminal 131p of analog comparator 131 is connected to power line PL.The ground terminal 131g of analog comparator 131 connects It is connected to ground wire GL.Analog comparator 131 by the electric power that supplies via power supply terminal 131p and ground terminal 131g, to from electricity The voltage of the output of current-to-voltage converter 130 carries out binaryzation.Output electricity of the analog comparator 131 in current-to-voltage converter 130 The signal for H level (high level) is exported from lead-out terminal 131c in the case of more than threshold value is pressed, in the case of less than threshold value The signal of L level (low level) is exported from lead-out terminal 131c.The lead-out terminal 131c of analog comparator 131 is connected to counter 128 the second input terminal 128b.Analog comparator 131 is via lead-out terminal 131c, the second input terminal to counter 128 128b supplies the signal of H level or L level.

Counter 128 includes such as CMOS logic circuit etc., by the voltage supplied via first input end 128a and Via the voltage of the second input terminal 128b supplies as control signal, counting process is carried out.The power supply terminal of counter 128 128p is connected to power line PL.The ground terminal 128g of counter 128 is connected to ground wire GL.Counter 128 is using via electricity The electric power of source terminal 128p and ground terminal 128g supplies, performs counting and processes.Count results are supplied to storage by counter 128 Portion 9.

Storage part 9 stores the information related to the revolution that counter 128 is detected.The power supply terminal 9p connections of storage part 9 In power line PL.The ground terminal 9g of storage part 9 is connected to ground wire GL.Storage part 9 is using via power supply terminal 9p and ground connection The electric power of terminal 9g supplies, enters the write of row information.Storage part 9 includes nonvolatile memory 132, even if in not supply electric power In the state of, it is also possible to the information being written with during being maintained at supply electric power.

In general, the detecting system of revolution receive the supply of electric power from battery etc. and carry out detecting, the storage of information.Should Battery is replaced in regularly maintenance etc..Encoder apparatus with such detecting system battery life-span than other portions In short situation of part etc., need according to life-span of battery to set the cycle of maintenance, the frequency of maintenance, cost etc. are possible to become It is high.

The encoder apparatus EC of present embodiment provided by generating electricity by revolution detecting system consume electric power extremely A few part.Therefore, it is possible to omit for providing the battery of the consumption electric power of detecting system, or make the life-span of battery elongated. As a result, can for example realize low-frequency degree, the cost degradation safeguarded.Hereinafter, illustrate the power supply system of encoder apparatus EC System.

The electric power supply system of encoder apparatus EC includes generator unit 4 and electric power adjustment portion 8.Electric power adjustment portion 8 includes Rectistack 133, capacitor 134 and adjuster 135.

Rectistack 133 is to carry out the rectifier of rectification to flowing through the electric current for coming from Power Generation Section 21.The first of rectistack 133 is defeated Enter terminal 133a to be connected with the terminal 23a of generator unit 4.Second input terminal 133b of rectistack 133 and the end of generator unit 4 Sub- 23b connections.The ground terminal 133g of rectistack 133 is connected to ground wire GL.The lead-out terminal 133c of rectistack 133 is connected to The input terminal 135a of adjuster 135.

The first electric current from 21 forward flow of Power Generation Section is supplied to into the first input end 133a of rectistack 133.Will be from The second electric current that Power Generation Section 21 reverse (reverse with the first electric current) is flowed is supplied to the second input terminal 133b of rectistack 133. Rectistack 133 is exported based on these electric currents and carries out full-wave rectification.Rectistack 133 by the electric power that have adjusted by rectification via Lead-out terminal 133c is supplied to adjuster 135.

Adjuster 135 includes for example low-loss 3 terminal adjuster.The ground terminal 135g of adjuster 135 is connected to and connects Ground wire GL.The lead-out terminal 135b of adjuster 135 is connected to power line PL.Input terminal 135a supplies to adjuster 135 are logical The direct current power of over commutation heap 133 rectification, adjuster 135 are based on the DC voltage, generate the few regulation electricity of ripple (pulsation) Pressure.The reference potential of the assigned voltage is the current potential phase with the signal ground SG supplied via ground wire GL and ground terminal 135g Same current potential.Assigned voltage is set to the operation voltage of counter 128, in the case where counter 128 is made up of CMOS etc., It is set to such as 3V.Will be the nonvolatile memory 132 of analog comparator 129, analog comparator 131 and storage part 9 each From operation voltage be for example set as and assigned voltage identical voltage.Electric power adjustment portion 8 is at least detecting revolution from test section 7 In a period of to the write revolution of storage part 9, the current potential of power line PL is set to into the regulation of the current potential relative to ground wire GL Voltage.

Capacitor 134 reduces the pulsation of the electric power from the output of rectistack 133.The first electrode 134a connection of capacitor 134 In the holding wire that the lead-out terminal 133b by rectistack 133 is connected with the input terminal 135a of adjuster 135.Capacitor 134 Second electrode 134b is connected to ground wire GL.The capacitor 134 is so-called smoothing capacity device, reduces pulsation and reduces adjuster Load.The constant of capacitor 134 is set as example until detecting revolution by test section 7 and writing in storage part 9 It is able to maintain that in a period of till entering revolution from electric power adjustment portion 8 to test section 7 and the power supply of storage part 9.

The magnetic encoder portion 1 of present embodiment with referring for example to carrying out action in the same manner as illustrated by Figure 14 and Figure 15. The magnetic encoder portion 1 of present embodiment as described above carries out a series of dynamic when existing from the output of Power Generation Section 21 Make.In addition, magnetic encoder portion 1 is not having the state that action current is zero is maintained during the output of Power Generation Section 21.This The situation of the vicinity that the position of the regulation of sample, magnetic encoder portion 1 and magnet 3 has passed through generator unit 4 correspondingly enters Mobile state Drive.Therefore, magnetic encoder portion 1 can save the battery of the electric power consumed by detecting system for offer, or make the life-span It is elongated.

In the present embodiment, including Magnetic Sensor 55 and analog comparator 129 test section 126 output in magnet 3 Angle position in the case of 0 ° to 180 ° of the interval, become H level.That is, test section 126 is by the detection of Magnetic Sensor 55 As a result it is used for judging whether the angle position of magnet 3 is in 0 ° to 180 ° of interval.So, the magnetic encoder of present embodiment Portion 1 can be while detecting that the revolution of magnet 3, in which interval, is detected in the angle position of magnet 3.

Additionally, in the present embodiment, test section 7 includes detecting rotation according to the change of the electric power from the output of Power Generation Section 21 The test section 127 of transfering the letter breath, but it is also possible to not including test section 127.In this case, test section 7 is by using Magnetic Sensor 55 testing result, can detect to a direction revolution of rotary shaft SF for rotating.Additionally, test section 7 is utilized carrys out self power generation The electric power in portion 21 detects revolution according to the testing result of the sensor driving sensor.For example, the sensor can be with It is not the part of Magnetic Sensor, or detection electrostatic capacitance.

But, the magnetic field that magnet 3 is formed on Magnetic Sensor 55 is stronger, then the output of Magnetic Sensor 55 is bigger, from mould The output for intending comparator 129 is more stable, so the robustness in magnetic encoder portion 1 is higher.Here, Magnetic Sensor 55 from send out Driven in a period of 4 output power of electric unit, so being configured at the strong position in the magnetic field formed in this period internal magnet 3 i.e. Can.Generate electricity when generator unit 4 is near 270 ° of 90 ° of the angle position of magnet 3 or angle position are by generator unit 4, institute With Magnetic Sensor 55 when the phase difference in the circumference of magnet 3 with generator unit 4 is more than 45 ° and less than 135 °, easily really Output is protected, when being about 90 °, output is maximum.

[the 7th embodiment]

Next, the 7th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.The encoder apparatus EC and Figure 15 and Figure 16 of present embodiment Similarly, possess generator unit 4, generator unit 40, Magnetic Sensor 55 and Magnetic Sensor 60.Magnetic Sensor 55 and Magnetic Sensor 60 are utilized respectively the electric power that generator unit 4 and generator unit 40 are produced, changes of magnetic field of the detection with the rotation of magnet 3.

Figure 22 is the circuit structure diagram in the magnetic encoder portion 1 of present embodiment.Generator unit 40 is and says with reference to Fig. 2 etc. The same structure of bright generator unit 4.Generator unit 40 possesses magnetosensitive portion 41 and Power Generation Section 42.Power Generation Section 42 passes through magnetosensitive portion 41 The changes of magnetic field at place and produce electric power.

In the present embodiment, electric power adjustment portion 8 possesses rectistack 133, rectistack 144, capacitor 134 and adjuster 135.It is in electric power adjustment portion 8, with regard to the key element beyond rectistack 144, identical with the 6th embodiment.The of rectistack 144 One input terminal 144a be connected by the terminal 40a of electric current that forward direction is exported from generator unit 40.Second input of rectistack 144 Terminal 144b be connected by the terminal 40b from 40 reverse output current of generator unit.The ground terminal 144g connections of rectistack 144 In ground wire GL.The lead-out terminal 144c of rectistack 144 is connected to the holding wire for being connected rectistack 133 with adjuster 135.It is whole Stream heap 144 is exported based on the electric current from generator unit 40 and carries out full-wave rectification.Rectistack 144 will be have adjusted by rectification Electric power be supplied to adjuster 135 via lead-out terminal 144c.

In fig. 22, adjuster 135 generates assigned voltage based on the output from rectistack 133, is based on come self-rectifying The output of heap 144 and generate assigned voltage.In addition, adjuster 135 is in the electric power system from rectistack 133 and from rectistack Share in 144 electric power system.

In addition it is also possible to arrange based on the output from rectistack 133 and generate the adjuster 135 and base of assigned voltage Other adjusters of assigned voltage are generated in the output from rectistack 144.In addition, in fig. 22, to from generator unit 4 Electric current carry out the rectistack 133 of rectification and the rectistack 144 of rectification carried out to the electric current from generator unit 40 independently Arrange, but it is also possible to by 1 rectistack, rectification is carried out to the electric current from generator unit 4, and to from generator unit 40 Electric current carries out rectification.

In the present embodiment, test section 7 includes test section 126, test section 145 and counter 128.Test section 126 It is the structure same with the 6th embodiment.It is that detection magnet 3 is formed that test section 145 is and 126 identical structure of test section Magnetic field change magnetic-field detecting unit.

Test section 145 possesses Magnetic Sensor 60 and analog comparator 146.The power supply terminal 60p of Magnetic Sensor 60 is connected to Power line PL.The ground terminal 60g of Magnetic Sensor 60 is connected to ground wire GL.The lead-out terminal of Magnetic Sensor 60 is connected to simulation The input terminal 146a of comparator 146.Magnetic Sensor 60 is using the electricity supplied via power supply terminal 141p and ground terminal 141g Power, detects the magnetic field formed by magnet 3, by its testing result (detection signal) output to analog comparator 146.

Analog comparator 146 is the comparator being compared to the voltage exported from Magnetic Sensor 60 and assigned voltage.Mould The power supply terminal 146p for intending comparator 146 is connected to power line PL.The ground terminal 146g of analog comparator 146 is connected to ground connection Line GL.Analog comparator 146 by the electric power that supplies via power supply terminal 146p and ground terminal 146g, to from Magnetic Sensor 60 The voltage of output carries out binaryzation.Analog comparator 146 Magnetic Sensor 55 output voltage be threshold value more than in the case of from Lead-out terminal 146b exports the signal of H level, exports the signal of L level in the case of less than threshold value from lead-out terminal 146b. The lead-out terminal 146b of analog comparator 146 is connected to the second input terminal 128b of counter 128.146 Jing of analog comparator By lead-out terminal 146b, the second input terminal 128b supply H levels or the signal of L level to counter 128.

Figure 23 is the sequential of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (rotating forward) Figure.Figure 24 is the sequential chart of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (counter-rotating).

With regard to " magnetic field " of Figure 23 and Figure 24, solid line represents the magnetic field at the position of generator unit 4, and dotted line represents that generating is single Magnetic field at the position of unit 40." generator unit 2 " represents the output of generator unit 40, will flow from generator unit 40 to a direction The output of dynamic electric current is set to just (+), and the output of the electric current to its reverse flow is set to bear (-).Figure 23's and Figure 24 " adjusts Section device " represents the output of adjuster 135, represents H level with " H ", represents L level with " L ".

The magnetic field that " magnetic field on MR sensors 2 " of Figure 23 and Figure 24 is formed on Magnetic Sensor 60.With regard to " MR is sensed Magnetic field on device 2 ", represents the magnetic field formed by magnet 3 with long dotted line, represents the magnetic field formed by bias magnet with short dash line, Their resultant magnetic field indicated by the solid line." MR sensors 2 " represents output when driving Magnetic Sensor 60 all the time, is represented by dashed line From the output of first lead-out terminal, the output from the second lead-out terminal indicated by the solid line." comparator 3 " is represented from simulation The output of comparator 146.The output of the analog comparator 146 in the case of driving Magnetic Sensor 60 all the time is shown as " driving all the time It is dynamic ", the output of the analog comparator 146 in the case of intermittent driving Magnetic Sensor 60 is shown as into " intermittent driving ".

First, with reference to Figure 23, the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise.Generator unit 4 At 135 ° of angle position, the current impulse (" generator unit 1 " negative) of reverse flow is exported.In addition, generator unit 4 is in angle At 315 ° of position, the current impulse (" generator unit 1 " just) of forward flow is exported.Generator unit 40 at 45 ° of angle position, The current impulse (" generator unit 2 " just) of output forward flow.In addition, generator unit 40 is at 225 ° of angle position, output The current impulse (" generator unit 2 " negative) of reverse flow.Therefore, adjuster 135 is respectively in 45 ° of angle position, angle position 135 °, 225 ° of angle position, at 315 ° of angle position, assigned voltage is supplied to power line PL.

In the present embodiment, the output of Magnetic Sensor 55 is detected with the output of Magnetic Sensor 60 with 90 ° of phase difference Revolution is detected using the phase difference in portion 7.The output of Magnetic Sensor 55 is in the scope from 180 ° of 0 ° of angle position to angle position It is inside positive sinusoidal wave shape.In the angular range, the output power at 45 ° of the angle position of generator unit 40, generator unit 4 is at angle Output power at 135 ° of position of degree.Magnetic Sensor 55 and analog comparator 129 pass through respectively in 45 ° of angle position and angle position The electric power supplied at 135 ° is driving.Electricity is not being received from the signal (hereinafter referred to as A phase signals) of the output of analog comparator 129 L level is maintained in the state of power supply, becomes H level at 135 ° of 45 ° of angle position and angle position respectively.

In addition, the output of Magnetic Sensor 55 is just in the range of 90 ° of 270 ° of angle position (- 90 °) to angle position String is wavy.In the angular range, in 315 ° of angle position (- 45 °) place output power, generator unit 40 is at angle for generator unit 4 Output power at 45 ° of position of degree.Magnetic Sensor 55 and analog comparator 146 pass through respectively in 315 ° of angle position and angle position The electric power supplied at 45 ° is driving.Electric power is not being received from the signal (hereinafter referred to as B phase signals) of the output of analog comparator 146 L level is maintained in the state of supply, becomes H level at 45 ° of 315 ° of angle position and angle position respectively.

Here, it is H level (H), is supplied to the B phase signals of counter 128 in the A phase signals for being supplied to counter 128 In the case of being L level, such as (H, L) represents the group of these signal levels like that.In fig 23, the signal at 315 ° of the angle position The group of level is (L, H), and the group of signal level is (H, H) at 45 ° of the angle position, the signal level at 135 ° of the angle position Group is (H, L).

Counter 128 in the case where the one side or both sides in the A phase signals and B phase signals for detecting is H level, The group of signal level is stored in storage part 9.A side of the counter 128 in the A phase signals that next detect with B phase signals or In the case that person both sides are H level, the group of the level of last time is read from storage part 9, the group and this electricity to the level of last time Flat group is compared and judges direction of rotation.

For example, the group in the signal level of last time is in the case that (H, H), this signal level are (H, L), in last time It is 45 ° of angle position in detection, is 135 ° of angle position in this detection, so it is (rotating forward) counterclockwise to understand.Meter Number devices 128 the group of this level be (H, L), and last time level group be (H, H) in the case of, would indicate that makes counting The rising signal that device goes up is supplied to storage part 9.Storage part 9 detecting in the case of the rising signal of counter 128, The revolution for being stored is updated to increase value obtained from 1.

Next, with reference to Figure 24, the action in the magnetic encoder portion 1 when illustrating that rotary shaft SF turns clockwise.Generate electricity single Unit 4 at 135 ° of angle position place, the current impulse of output forward flow (" generator unit 1 " just).In addition, generator unit 4 exists At 315 ° of angle position, the current impulse (" generator unit 1 " negative) of reverse flow is exported.Generator unit 40 is in angle position At 45 °, the current impulse (" generator unit 2 " negative) of reverse flow is exported.In addition, generator unit 40 is 225 ° of angle position Place, exports the current impulse (" generator unit 2 " just) of forward flow.So, when the direction of rotation of rotary shaft SF is reversed, from The sense of current of the output of generator unit 4, the sense of current from the output of generator unit 40 are reversed.

8 pairs of electric currents from the output of each generator unit of electric power adjustment portion carry out rectification, so the output of adjuster 135 is not depended on In the sense of current exported from each generator unit.Therefore, adjuster 135 is in the same manner as rotating forward, respectively in angle position 45 °, 135 ° of angle position, 225 ° of angle position, at 315 ° of angle position, assigned voltage is supplied to power line PL.

Counter 28 with regard to rotate forward it is illustrated in the same manner as, judge direction of rotation.In addition, in this signal electricity Flat group be in the case that (H, L), the signal level of last time are (L, H) in last time detection be 315 ° of angle position (- 45 °), it is 135 ° of angle position (- 225 °) in this detection, so it is (counter-rotating) clockwise to understand.Counter 128 This level group be (H, L), and last time level group be (L, H) in the case of, would indicate that declines counter Dropping signal be supplied to storage part 9.Storage part 9 is being detected in the case of the dropping signal of counter 128, will be deposited The revolution of storage is updated to reduce value obtained from 1.So, the magnetic encoder portion 1 of present embodiment can judge rotation The direction of rotation of axle SF, detects revolution.

The magnetic encoder portion 1 of present embodiment as described above is present from the defeated of Power Generation Section 21 or Power Generation Section 42 A series of action is carried out when going out.In addition, magnetic encoder portion 1 is without either one in Power Generation Section 21 and Power Generation Section 42 Output in a period of maintain action current be zero state.So, magnetic encoder portion 1 is led to the position of the regulation of magnet 3 The situation for having crossed the vicinity of generator unit 4 or generator unit 40 correspondingly carries out dynamic driving.Therefore, magnetic encoder portion 1 Can save for provide by detecting system consumption electric power battery, make the life-span elongated.

Additionally, in the present embodiment, using 2 generator units, but the quantity of generator unit can also be 1.Figure 25 It is the figure in the magnetic encoder portion 1 for illustrating variation.

In Figure 25 (A), Magnetic Sensor 55 has been configured at from 4 rotate counterclockwise of generator unit about 45 ° of angle position.Magnetic Sensor 60 is configured at from generator unit 4 about 45 ° of the angle position of having turned clockwise.In addition, Magnetic Sensor 60 be configured at Magnetic Sensor 55 offset by 90 ° of angle position.

In the case of such structure, magnet 3 position 3c by generator unit 4 near when, compare from simulation The A phase signals of the output of device 129 are H levels, and the B phase signals from the output of analog comparator 146 are L levels.In addition, in magnet 3 Position 3c by generator unit 4 it is neighbouring when, A phase signals are L levels, and B phase signals are H levels.Therefore, in the signal electricity of last time Flat group is in the case that (H, L), this signal level are (L, H), it is known that to positive or reversely rotated 1/2 turn.Separately Outward, the group in the signal level of last time is in the case that (L, H), this signal level are (H, L), it is known that to positive or anti- To have rotated 1/2 turn.So, when in last time with this in signal level group it is different in the case of, can obtain and rotate position The related information of the absolute value of the variable quantity put.In addition, when in the case of signal level identical in last time and this, can obtain To the information with the directional correlation of rotation.For example, the group of signal level and the group of this signal level in last time be all (H, L, in the case of), after the position 3a of magnet 3 passes through the vicinity of generator unit 4, the position 3a of magnet 3 is single again by generating electricity The vicinity of unit 4.In this case, it is known that the direction of the rotation of rotary shaft SF occurs reversion.Therefore, A phase signals are initially being obtained During with B phase signals, the direction (initial value in the direction of rotation) of its rotation is detected in advance, afterwards, when letter in last time and this In the case of the group identical of number level, go up to counting and count decline and switch over, when in last time with this in signal level Group exist reversion relation in the case of, make counting value changes such that it is able to consider rotation direction and detect revolution.This Outward, in order to detect the initial value in the direction of rotation, for example, can also will generate electricity single as illustrated in the 6th embodiment The output of unit 4 is used as detection signal.In addition it is also possible in the same manner as the 6th embodiment, by the output of Magnetic Sensor 55 and send out The output of electric unit 4 be used as detection signal, it is considered to the direction of rotation and detect revolution.In this case, Magnetic Sensor 60 also may be used Preparation (standby) action in the case of etc. is not carried out for the abnormality detection of Magnetic Sensor 55, Magnetic Sensor 55.

In Figure 25 (B), Magnetic Sensor 55 has been configured at from 4 rotate counterclockwise of generator unit about 135 ° of angle position. Magnetic Sensor 60 is configured at from generator unit 4 about 135 ° of the angle position of having turned clockwise.In addition, Magnetic Sensor 60 is configured at 90 angle position is offset by with Magnetic Sensor 55.Also rotation can be detected in this case in the same manner as the example of Figure 25 (A).

[the 8th embodiment]

Next, the 8th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.In the present embodiment, magnetic encoder portion implements with the 7th Mode similarly, possesses 2 generator units and 2 Magnetic Sensors.The configuration of generator unit and the configuration of Magnetic Sensor and second Embodiment identical (with reference to Figure 15 and Figure 16).

Figure 26 is the circuit structure diagram in the magnetic encoder portion 1 of present embodiment.In the present embodiment, magnetic encoder Portion 1 possesses the output from Magnetic Sensor 55 and detects the of revolution from the output of Magnetic Sensor 60 as detection signal The output in one detecting system and self power generation in future portion 21 and the output from Power Generation Section 42 detect revolution as detection signal The second detecting system.It is with regard to the first detecting system, identical with the 6th embodiment.Second detecting system and the first detecting system The revolution of separately detect rotary shaft SF.Second detecting system possesses test section 150, test section 151, counter 152 and deposits Storage portion 153.

Test section 150 is to detect the electricity of the rotation information of rotary shaft SF according to the change of the electric power from the output of Power Generation Section 21 Power test section.Test section 150 includes current-to-voltage converter 155 and analog comparator 156.Current-to-voltage converter 155 be by Next current transformation is flow through into the converter of voltage from Power Generation Section 21.The negative pole 155a of current-to-voltage converter 155 is connected to and sends out The terminal 23a of electric unit 4.The positive pole 155b of current-to-voltage converter 155 is connected to the terminal 23b of generator unit 4.Current Voltage The lead-out terminal of converter 155 is connected to the input terminal 156a of analog comparator 156.

Analog comparator 156 is the ratio that voltage and assigned voltage to exporting from current-to-voltage converter 155 are compared Compared with device.The power supply terminal 156p of analog comparator 156 is connected to power line PL.The ground terminal 156g of analog comparator 156 connects It is connected to ground wire GL.Analog comparator 156 by the electric power that supplies via power supply terminal 156p and ground terminal 156g, to from electricity The voltage of the output of current-to-voltage converter 155 carries out binaryzation.Output electricity of the analog comparator 156 in current-to-voltage converter 155 The signal for H level is exported from lead-out terminal 156b in the case of more than threshold value is pressed, from output end in the case of less than threshold value Sub- 156b exports the signal of L level.The lead-out terminal 56b of analog comparator 156 is connected to the first input end of counter 152 152a.Analog comparator 156 via lead-out terminal 156b, first input end 152a supply H levels to counter 152 or The signal of L level.

Test section 151 is to detect the electricity of the rotation information of rotary shaft SF according to the change of the electric power from the output of Power Generation Section 42 Power test section.Test section 151 is and 150 identical structure of test section.Test section 151 includes current-to-voltage converter 157 and mould Intend comparator 158.Current-to-voltage converter 157 is will to flow through next current transformation into the converter of voltage from Power Generation Section 42.Electricity The negative pole 157a of current-to-voltage converter 157 is connected to the terminal 40a of generator unit 40.The positive pole of current-to-voltage converter 157 157b is connected to the terminal 40b of generator unit 40.The lead-out terminal 157c of current-to-voltage converter 157 is connected to analog comparator 158 input terminal 158a.

Analog comparator 158 is the ratio that voltage and assigned voltage to exporting from current-to-voltage converter 157 are compared Compared with device.The power supply terminal 158p of analog comparator 158 is connected to power line PL.The ground terminal 158g of analog comparator 158 connects It is connected to ground wire GL.Analog comparator 158 by the electric power that supplies via power supply terminal 158p and ground terminal 158g, to from electricity The voltage of the output of current-to-voltage converter 157 carries out binaryzation.Output electricity of the analog comparator 158 in current-to-voltage converter 157 The signal for H level is exported from lead-out terminal 158b in the case of more than threshold value is pressed, from output end in the case of less than threshold value Sub- 158b exports the signal of L level.The lead-out terminal 158b of analog comparator 158 is connected to the second input of counter 152 Sub- 152b.Analog comparator 158 via lead-out terminal 158b, the second input terminal 152b supply H levels to counter 152 or The signal of person's L level.

Counter 152 is turned to rotary shaft SF using the testing result of the testing result and test section 151 of test section 150 Number is counted.Counter 152 will export the signal of first input end 152a and from simulation ratio from analog comparator 156 The signal that the second input terminal 152b is exported compared with device 158 is used as control signal, and the revolution of rotary shaft SF is counted.Count The power supply terminal 152p of device 152 is connected to power line PL.The ground terminal 152g of counter 152 is connected to ground wire GL.Count Device 152 performs counting using the electric power supplied via power supply terminal 152p and ground terminal 152g.Counter 152 by count As a result it is supplied to storage part 153.

Storage part 153 stores the information related to the revolution that counter 152 is detected.The power supply terminal of storage part 153 153p is connected to power line PL.The ground terminal 153g of storage part 153 is connected to ground wire GL.Storage part 153 is using via electricity The electric power of source terminal 153p and ground terminal 153g supplies, enters the write of row information.Storage part 153 includes nonvolatile memory 159, even if in the state of not supply electric power, it is also possible to the information being written with during being maintained at supply electric power.

Figure 27 is the sequential of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (rotating forward) Figure.Figure 28 is the sequential chart of the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise (counter-rotating).This Outward, the detection action of the revolution with regard to being implemented by the first detecting system using Magnetic Sensor, identical with Figure 22 and Figure 23, in figure Omit in 27 and Figure 28.In addition, in Figure 27 and Figure 28, with regard to " angle position ", " configuration ", " magnetic field ", " generator unit 1 ", " generator unit 2 ", " adjuster " are identical with Figure 22 and Figure 23.

" comparator 1 " of Figure 27 and Figure 28 represents the output of analog comparator 156, and " comparator 2 " represents analog comparator 158 output.With regard to the output of each comparator, " RISE " is to represent that the output of generator unit is the RISE letters of positive electric current Number.With regard to the output of each comparator, " FALL " is to represent that the output of generator unit is the FALL signals of reverse electric current.With regard to " RISE " and " FALL ", represents H level with " H ", represents L level with " L ".

With regard to " storage part " of Figure 27 and Figure 28, " state " represents that storage part 153 is in resetting in SM set mode State.With regard to " state ", represented in SM set mode with " H ", represented in reset state with " L ".With regard to Figure 27's and Figure 28 Whether " storage part ", " write activity " represent storage part 153 in write activity.With regard to " write activity ", at " H " expression In write activity, represented with " L " and be not in write activity." counter " of Figure 27 and Figure 28 is represented and is deposited in storage part 53 The revolution of storage.

First, with reference to Figure 27, the action in the magnetic encoder portion 1 when illustrating rotary shaft SF rotate counterclockwise.Generator unit 4 At 135 ° of angle position, the current impulse (" generator unit 1 " negative) of reverse flow is exported.In addition, generator unit 4 is in angle At 315 ° of position, the current impulse (" generator unit 1 " just) of forward flow is exported.

Generator unit 40 is configured in the circumference of magnet 3 position that 90 ° are offset by with generator unit 4.Therefore, generate electricity single The magnetic field that unit 40 feels 90 ° of phase offset compared with the magnetic field that generator unit 4 is felt.Generator unit 40 is 225 ° of angle position Place, exports the current impulse (" generator unit 2 " negative) of reverse flow.In addition, generator unit 40 is at 45 ° of angle position, it is defeated Go out the current impulse (" generator unit 2 " just) of forward flow.

When respectively at 315 ° of 135 ° of angle position and angle position from 4 output current pulse of generator unit, adjuster The electric power of 135 output assigned voltages.In addition, ought be defeated from generator unit 40 at 225 ° of 45 ° of angle position and angle position respectively When going out current impulse, adjuster 135 exports the electric power of assigned voltage.

Output (" comparator 1 ") with regard to analog comparator 156, RISE signals are tieed up in the state of power supply is not received Be held in L level, the output of the generator unit 4 at 315 ° of accepts angle position and become H level.FALL signals are not receiving electric power L level is maintained in the state of supply, the output of the generator unit 4 at 135 ° of accepts angle position and become H level.Figure 26 institutes The counter 152 for showing is L level and FALL signals are H levels the RISE signals from analog comparator 156 are detected In the case of, would indicate that the rising signal for making count value (revolution) go up by (+1) output to storage part 53.

Output (" comparator 2 ") with regard to analog comparator 158, RISE signals are tieed up in the state of power supply is not received Be held in L level, the output of the generator unit 40 at 45 ° of accepts angle position and become H level.FALL signals are not receiving electric power L level is maintained in the state of supply, the output of the generator unit 40 at 225 ° of accepts angle position and become H level.

Storage part 153 is set to when the H level of RISE signals is exported from analog comparator 58 (45 ° of angle position) SM set mode.(the angle when receiving from the rising signal of counter 152 in the case of in SM set mode of storage part 153 135 ° of position of degree), the revolution for being stored is updated to increase value obtained from 1.For example, counter 152 is counting rise action In, the revolution stored in storage part 153 is read, the revolution will be made to increase revolution obtained from 1 and arrived as rising signal output Storage part 153.Storage part 153 (225 ° of angle position), quilt when the H level of FALL signals is exported from analog comparator 158 It is set as reset state.

Magnetic encoder portion 1 is whenever the rotation along with rotary shaft SF is by defeated from generator unit 4 or generator unit 40 When going out electric power, action as described above is performed.In figure 27, illustrate rotary shaft SF rotate 2 turns in a period of magnetic encoder The action in portion 1, magnetic encoder portion 1 carry out same action in initial rotation and the ensuing rotation of Figure 27.For example, The revolution being stored in storage part 153 at n-th turn of 0 ° of angle position is n, and at 135 ° of angle position, counter 152 will Rising signal is supplied to storage part 153, and the count value for being stored is updated to n+1 by storage part 153.In ensuing rotation Similarly, at 135 ° of angle position, rising signal is supplied to storage part 153 by counter 152, and storage part 153 will be stored Count value be updated to n+2.

Next, with reference to Figure 28, the action in the magnetic encoder portion 1 when illustrating that rotary shaft SF turns clockwise.Generate electricity single Unit 4 exports the current impulse (" generating of reverse flow at 45 ° of 315 ° of the angle position place of having turned clockwise from 0 ° of angle position Unit 1 " it is negative).In addition, generator unit 4 is at 225 ° of 135 ° of the angle position of having turned clockwise from 0 ° of angle position, output The current impulse (" generator unit 1 " just) of forward flow.

Generator unit 40 exports forward flow at 135 ° of 225 ° of the angle position of having turned clockwise from 0 ° of angle position Current impulse (" generator unit 2 " just).In addition, generator unit 40 is at 315 ° of the angle of having turned clockwise from 0 ° of angle position At 45 ° of position of degree, the current impulse (" generator unit 2 " negative) of reverse flow is exported.

When respectively at 315 ° of 135 ° of angle position and angle position from 4 output current pulse of generator unit, adjuster The electric power of 135 output assigned voltages.In addition, ought be defeated from generator unit 40 at 225 ° of 45 ° of angle position and angle position respectively When going out current impulse, adjuster 135 exports the electric power of assigned voltage.

Output (" comparator 1 ") with regard to analog comparator 156, RISE signals are tieed up in the state of power supply is not received L level is held in, is received the output of generator unit 4 at 135 ° of angle position and is become H level.FALL signals are not receiving electric power L level is maintained in the state of supply, is received the output of generator unit 4 at 315 ° of angle position and is become H level.Figure 26 institutes The counter 152 for showing is H level and FALL signals are L levels the RISE signals from analog comparator 156 are detected In the case of, would indicate that the dropping signal for making count value (revolution) decline (- 1) output to storage part 153.

Output (" comparator 2 ") with regard to analog comparator 158, RISE signals are tieed up in the state of power supply is not received L level is held in, is received the output of generator unit 40 at 225 ° of angle position and is become H level.FALL signals are not receiving electricity L level is maintained in the state of power supply, is received the output of generator unit 40 at 45 ° of angle position and is become H level.Storage Portion 153 (225 ° of angle position) when the H level of RISE signals is exported from analog comparator 158, is set to SM set mode. (the angle position when receiving from the dropping signal of counter 152 in the case of in SM set mode of storage part 153 135 °), the revolution for being stored is updated to reduce value obtained from 1.For example, counter 152 is read in down maneuver is counted The revolution stored in storage part 153, will make the revolution reduce revolution obtained from 1 as rising signal output to storage part 153.Storage part 153 (45 ° of angle position) when the H level of FALL signals is exported from analog comparator 158, is set to multiple Position state.

Magnetic encoder portion 1 is whenever the rotation along with rotary shaft SF is by defeated from generator unit 4 or generator unit 40 When going out electric power, action as described above is performed.In Figure 28, illustrate rotary shaft SF rotate 2 turns in a period of magnetic encoder The action in portion 1, magnetic encoder portion 1 carry out same action in initial rotation and the ensuing rotation of Figure 28.For example, The revolution being stored in storage part 53 at the n-th+2 turns of 0 ° of angle position is n+2, in the angle position that have rotated -225 ° At 135 °, dropping signal is supplied to storage part 153 by counter 152, and the count value for being stored is updated to n+1 by storage part 153. In ensuing rotation similarly, at 135 ° of angle position, dropping signal is supplied to storage part 153 by counter 152, is deposited The count value for being stored is updated to n by storage portion 153.

In the magnetic encoder portion 1 of present embodiment as described above, by the output from Magnetic Sensor 55 and from The output of Magnetic Sensor 60 is as the first detecting system of detection signal and the output in self power generation in future portion 21 and carrys out self power generation The output in portion 42 detects revolution respectively as the second detecting system of detection signal.The testing result of the second detecting system passes through example Such as compare with the testing result of the first detecting system, can be used in abnormal detection etc..Encoder apparatus EC can both possess Carry out the abnormal detector of the detection of such exception, it is also possible to possess the notice device of the testing result for notifying abnormal.Separately Outward, at least one party in such abnormal detector and notice device can also be the device of the outside of encoder apparatus EC. In addition, in the case where failure due to the first detecting system etc. cannot read revolution from storage part 9, it is also possible to by the second inspection The revolution that examining system is detected reads from storage part 53 and replaces the testing result of the first detecting system to use.

[the 9th embodiment]

Next, the 9th embodiment of explanation.In the present embodiment, with regard to there is corresponding relation with above-mentioned embodiment Key element, additional same-sign and omit or simplify its explanation.

Figure 29 is the figure of the encoder apparatus EC for illustrating present embodiment.In the above-described embodiment, encoder apparatus EC Magnetic encoder portion 1 be not receive to carry out the device of the self of a series of action from the supply of outside electric power, But the electric power consumed by the detecting system of the revolution of detection rotary shaft SF can be provided to the connection of the magnetic encoder portion 1 of Figure 29 At least one of supply unit 80.The supply unit 80 can be identical with such as Figure 19.

The electric power that the encoder apparatus EC of present embodiment is produced using Power Generation Section driving the detecting system of revolution, so The life-span of supply unit 80 can be made elongated.As a result, can for example reduce the maintenance frequency of supply unit 80, can reduce compiling The maintenance frequency of code device device EC.Additionally, supply unit 80 can both include the electric power to 2 supply electric power of optical encoders, angle sensors portion At least a portion of feed system, it is also possible in the driving in optical encoders, angle sensors portion 2 to 1 supply electric power of magnetic encoder portion. The electric power supply system can also be the main power source for for example installing the various devices such as the robot device of encoder apparatus EC.

Next, explanation variation.Figure 30 (A) is the figure of the variation for illustrating magnetic encoder portion 1.In above-mentioned each enforcement In mode, magnet 3 produces AC magnetic field by the magnet (with reference to Fig. 2) of ring-type, but the magnet 3 of Figure 30 (A) passes through bar-shaped magnetic Iron and produce AC magnetic field.In this variation, magnet 3 includes the bar-shaped magnet 71a that is arranged on discoid plate 70～bar-shaped Magnet 71f.

Plate 70 is fixed on rotary shaft SF, integratedly rotates with rotary shaft SF.Bar-shaped magnet 71a～bar-shaped magnet 71f and plate 70 fix, and integratedly rotate with plate 70 and rotary shaft SF.Bar-shaped magnet 71a～bar-shaped magnet 71f is each configured to and plate 70 It is diametrically substantially parallel.

Bar-shaped magnet 71a～bar-shaped magnet 71c is configured to center (rotary shaft SF), and N pole direction of the S poles towards plate 70 Radiation direction (outside of plate 70) relative to rotary shaft SF.Bar-shaped magnet 71a is configured at the vicinity of the position 3d of plate 70.It is bar-shaped Magnet 71b is configured at the position 3a of plate 70.Bar-shaped magnet 71c is configured at the vicinity of the position 3b of plate 70.

Bar-shaped magnet 71d～bar-shaped magnet 71f is configured to center (rotary shaft SF), and S pole direction of the N poles towards plate 70 Radiation direction (outside of plate 70) relative to rotary shaft SF.Bar-shaped magnet 71d in the vicinity of the position 3b of plate 70, with bar-shaped magnetic Iron 71c is adjacently configured.Bar-shaped magnet 71e is configured at the position 3c of plate 70.Bar-shaped magnet 71f plate 70 position 3d it is attached Closely, adjacently configure with bar-shaped magnet 71a.

According to such magnet 3, plate 70 position 3b or position 3d by generator unit 4 near when, generate electricity single The direction reversion in the magnetic field at unit 4, from 4 output power of generator unit.Now, 1 bar-shaped magnet is by the attached of Magnetic Sensor 55 Closely, the magnetic field of the radial direction of plate 70 is formed at Magnetic Sensor 55.Magnetic Sensor 55 when by from 4 output power of generator unit, energy The direction in magnetic field is detected enough.

Figure 30 (B) is the top view of the variation for illustrating magnetic encoder portion 1.In Figure 30 (B), magnetic encoder portion 1 Possess generator unit 4 and generator unit 40.Generator unit 40 is in the circumference of magnet 3 with generator unit 4 with 180 ° of phase difference Configuration.The magnetic encoder portion 1 magnet 3 position 3a by generator unit 4 near when, the position 3c of magnet 3 is by sending out The vicinity of electric unit 40.So, generator unit 4 and generator unit 40 substantially produce electric power simultaneously, easily provide by detecting system Deng the electric power of consumption.

Figure 30 (C) is the side view of the variation for illustrating magnetic encoder portion 1.In Figure 30 (C), magnetic encoder portion 1 Possess generator unit 4 and generator unit 40.Generator unit 40 is arranged at the opposition side of generator unit 4 relative to magnet 3.Generate electricity single Unit 40 is for example arranged in the circumference of magnet 3 and 4 identical angle position of generator unit.With regard to encoder apparatus EC, send out Electric unit 4 and generator unit 40 substantially produce electric power simultaneously, easily provide by the electric power of the consumption such as detecting system.

Figure 30 (D) is the side view of the variation for illustrating magnetic encoder portion 1.In Figure 30 (D), magnetic encoder portion 1 Possess magnet 3, generator unit 4, magnet 66 and generator unit 40.Magnet 3 is configured at the surface of the plectane 6 shown in Fig. 1 etc., magnetic Iron 66 is configured at the back side.Generator unit 4 is configured at the vicinity of magnet 3, is generated electricity by the change in the magnetic field formed by magnet 3. Generator unit 40 is configured at the vicinity of magnet 66, is generated electricity by the change in the magnetic field formed by magnet 66.So, magnetic-type coding Device portion 1 in the case where multiple generator units are arranged, the magnet 3 paired with generator unit 4 and paired with generator unit 40 Magnet 66 can also be different individual components.

Additionally, in the case where multiple generator units are arranged as above-mentioned variation, from the electricity of the output of generator unit 40 Power had both been can serve as detecting the detection signal of revolution, it is also possible to be only used for the supply to detecting system etc..In addition, being arranged at The quantity of the generator unit of encoder apparatus EC can also be more than 3.Alternatively, it is also possible to being generator unit the one of magnet 3 Surface side is respectively arranged with magnetosensitive portion and Power Generation Section and these magnetosensitive portions and Power Generation Section with another surface side and is housed in 1 framework Mode.

Additionally, in the respective embodiments described above, each variation, magnet 3 is that have 2 poles in the circumferential and diametrically have There is the magnet of 4 poles of 2 poles, but be not limited to such structure, suitably can change.For example, the quantity of the pole of the circumference of magnet 3 Can both be more than 4 poles, or in the circumferential have 4 poles and diametrically with 2 poles 8 poles magnet.

Additionally, in the above-described embodiment, in test section 7, rotary shaft SF (move portion) is detected as positional information Rotation information, but it is also possible to the position of prescribed direction, speed, at least one party in acceleration are detected as positional information. Encoder apparatus EC can both include rotary encoder, it is also possible to including linear encoder.In addition, encoder apparatus EC can also It is that Power Generation Section and test section are arranged at rotary shaft SF, magnet 3 is arranged at the outside of moving body (for example, rotary shaft SF), so as to magnetic Iron is changed along with the movement of move portion with the relative position of test section.Test section 7 can not be both carried out based on from Power Generation Section The detection of the positional information of the change of the electric power of output, it is also possible to for example by Magnetic Sensor test position information.Power Generation Section 21, At least one party in Power Generation Section 42 both can produce electric power by the phenomenon beyond big Barkhausen jump, it is also possible to for example lead to Cross the electromagnetic induction of the change of the movement of the adjoint move portion (for example, rotary shaft SF) along with magnetic field and produce electric power.Electric power Feed system can also supply at least a portion for the electric power consumed by test section and by the testing result for storing test section At least a portion for the electric power that storage part is consumed.Electric power supply system can also supply at least the one of the electric power consumed by test section Part and by storage test section testing result storage part consumption electric power at least a portion in a side and do not supply The opposing party.The storage part of the testing result of storage test section can both be arranged at the outside of position detecting system, it is also possible to arrange In the outside of encoder apparatus EC.

[driving means]

Next, explanation driving means.Figure 31 is the figure of an example for illustrating driving means MTR.In the following description In, for it is identical with above-mentioned embodiment or equivalent structure division, additional same-sign and omit or simplify explanation.Should Driving means MTR are the motor apparatus for including electro-motor.Driving means MTR have rotary shaft SF, rotary shaft SF are revolved Turn the encoder apparatus EC of the rotation information of main part (drive division) BD and detection rotary shaft SF for driving.

Rotary shaft SF has load-side end SFa and anti-load-side end SFb.Load-side end SFa is connected to deceleration Other Poewr transmission mechanisms such as machine.In anti-load-side end SFb, across fixed part nonadjustable signal S.In the fixation of scale S While, assemble encoder apparatus EC.Encoder apparatus EC is the involved volume of above-mentioned embodiment, variation or its combination Code device device.

In driving means MTR, using motor control part MC shown in the testing result of encoder apparatus EC, Fig. 1 etc. Control main part BD.With regard to driving means MTR, the necessity of the battery altering of encoder apparatus EC is eliminated or reduces, so Maintenance cost can be reduced.Additionally, driving means MTR are not limited to motor apparatus, or with using hydraulic pressure, pneumatics Other driving means of the axle portion of rotation.

[table device]

Next, explanation table device.Figure 32 is the figure for illustrating table device STG.Table device STG be Load-side end SFa in rotary shaft SF of driving means MTR shown in Figure 31 is equipped with the knot of turntable (mobile object) TB Structure.In the following description, for it is identical with above-mentioned embodiment or equivalent structure division, additional same-sign and omit Or simplify explanation.

The rotation is delivered to by table device STG when being driven to driving means MTR and rotate rotary shaft SF Turntable TB.Now, angle position of encoder apparatus EC detections rotary shaft SF etc..Therefore, by using come self-encoding encoder dress The output of EC is put, the angle position of turntable TB can be detected.In addition it is also possible in the load-side end SFa of driving means MTR Reductor etc. is configured between turntable TB.

So table device STG eliminates or reduces the necessity of the battery altering of encoder apparatus EC, it is possible to Reduce maintenance cost.Additionally, table device STG can be applied to the turntable that such as capstan etc. possesses in work mechanism Deng.

[robot device]

Next, explanation robot device.Figure 33 is the stereogram for illustrating robot device RBT.Additionally, in fig. 33, Schematically show a part (articular portion) of robot device RBT.In the following description, for above-mentioned embodiment party Formula it is identical or equivalent structure division, additional same-sign and omit or simplify explanation.The robot device RBT has the One arm AR1, the second arm AR2 and joint portion JT.First arm AR1 is connected with the second arm AR2 via joint portion JT.

First arm AR1 possesses shank 101, bearing 101a and bearing 101b.Second arm AR2 has shank 102 and connection Portion 102a.Connecting portion 102a is configured between bearing 101a and bearing 101b at joint portion JT.Connecting portion 102a and rotary shaft SF2 is integrally provided.Rotary shaft SF2 is inserted in bearing 101a and both bearing 101b at joint portion JT.Rotary shaft SF2 In the side for being inserted into bearing 101b end insertion bearing 101b and be connected to reductor RG.

Reductor RG is connected to driving means MTR, makes the rotational deceleration of driving means MTR first-class to such as percent and passes It is delivered to rotary shaft SF2.In fig. 33 although it is not shown, but the load-side end SFa connections in rotary shaft SF of driving means MTR In reductor RG.In addition, the anti-load-side end SFb in rotary shaft SF of driving means MTR, is equipped with encoder apparatus EC Scale S.

Robot device RBT when being driven to driving means MTR and rotate rotary shaft SF, by the rotation via subtracting Fast machine RG is delivered to rotary shaft SF2.By the rotation of rotary shaft SF2, connecting portion 102a integratedly rotates, thus the second arm AR2 Rotate relative to the first arm AR1.Now, angle position of encoder apparatus EC detections rotary shaft SF etc..Therefore, by using next The output of self-encoding encoder device EC, can detect the angle position of the second arm AR2.

So robot device RBT eliminates or reduces the necessity of the battery altering of encoder apparatus EC, it is possible to Reduce maintenance cost.Additionally, robot device RBT is not limited to said structure, driving means MTR can be applied to possess joint Various robot devices.

Additionally, the technical scope of the present invention is not limited to above-mentioned embodiment or variation.For example, omit 1 sometimes The important document illustrated in above-mentioned embodiment above or variation.In addition, can be by above-mentioned embodiment or variation The important document of explanation is appropriately combined.In addition, in allowed by law scope, quoting the whole that refer in above-mentioned embodiment etc. Document disclosure be used as this paper record a part.

Additionally, according to the mode of above-mentioned embodiment, there is provided a kind of encoder apparatus, possess：Magnet, along with rotary shaft Rotation and rotate；, there is big Barkhausen jump by the changes of magnetic field of the rotation with magnet in magnetosensitive portion；Power Generation Section, Electric power is produced by the changes of magnetic field at magnetosensitive portion；Test section, detects rotation according to the change of the electric power exported from Power Generation Section The rotation information of rotating shaft；The electric power exported from Power Generation Section is adjusted to the electric power of assigned voltage by electric power adjustment portion；And storage Portion, stores the testing result of test section using the electric power exported from electric power adjustment portion.

Additionally, according to the mode of above-mentioned embodiment, there is provided a kind of encoder apparatus, possess：Magnet, along with rotary shaft Rotation and rotate；, there is big Barkhausen jump by the changes of magnetic field of the rotation with magnet in magnetosensitive portion；Test section, The rotation information of detection rotary shaft；Storage part, stores the testing result of test section；Power Generation Section, by the magnetic field at magnetosensitive portion Change and produce electric power；And electric power adjustment portion, the electric power exported from Power Generation Section is adjusted to into the electric power of assigned voltage, supply by At least a portion of at least a portion for the electric power that test section is consumed and the electric power consumed by storage part.

Additionally, according to the mode of above-mentioned embodiment, there is provided a kind of driving means, possess：The encoder dress of aforesaid way Put；Power supplying part, is powered to rotary shaft；And control unit, the rotation detected using the test section of encoder apparatus Information is controlling power supplying part.

Additionally, according to the mode of above-mentioned embodiment, there is provided a kind of table device, possess：Mobile object；And it is above-mentioned The driving means of mode, move mobile object.

Additionally, according to the mode of above-mentioned embodiment, there is provided a kind of robot device, possess：The driving dress of aforesaid way Put；And first arm and the second arm, relative movement is carried out by driving means.

One of purpose of mode of above-mentioned embodiment is for example to reduce or eliminate to change to supply encoder apparatus The necessity of the battery of electric power.According to the mode of above-mentioned embodiment, replacing can be reduced to encoder apparatus supply electric power The frequency of battery, or omit the replacing of battery.

Claims (42)

1. a kind of encoder apparatus,

Possess position detecting system and electric power supply system,

The position detecting system includes：

Test section, detects the positional information of move portion；And

Magnet, along with the movement of the move portion, is changed with the relative position of the test section,

The electric power supply system includes：

Power Generation Section, produces electric power by the change in the magnetic field of the movement along with the move portion；And

The electric power exported from the Power Generation Section is adjusted to the electric power of assigned voltage by electric power adjustment portion, and supply is examined by the position At least a portion for the electric power that examining system is consumed.

2. encoder apparatus according to claim 1, it is characterised in that

Change of the test section according to the electric power exported from the Power Generation Section, detects the positional information.

3. encoder apparatus according to claims 1 or 2, it is characterised in that

The Power Generation Section possesses magnetosensitive portion, and the magnetosensitive portion occurs big by the change in the magnetic field of the movement along with the magnet Barkhausen jump.

4. encoder apparatus according to claim 3, it is characterised in that

The magnetosensitive portion includes the first magnetosensitive portion and the second magnetosensitive portion in the magnetic field for feeling that the magnet is formed,

The Power Generation Section includes：

First Power Generation Section, produces electric power by the change in the magnetic field at the first magnetosensitive portion；And

Second Power Generation Section, produces electric power by the change in the magnetic field at the second magnetosensitive portion.

5. encoder apparatus according to claim 4, it is characterised in that

The electric power adjustment portion includes：

First rectifier, carries out rectification to flowing through the electric current for coming from first Power Generation Section；

Second rectifier, carries out rectification to flowing through the electric current for coming from second Power Generation Section；And

Adjuster, by the Voltage Cortrol exported from first rectifier or second rectifier into the assigned voltage.

6. encoder apparatus according to claim 4 or 5, it is characterised in that

The move portion includes rotary shaft,

The angle position in the first magnetosensitive portion in the circumference of the rotary shaft and the angle position in the second magnetosensitive portion it Difference is set to more than 45 ° and less than 135 °.

7. encoder apparatus according to any one of claim 4 to 6, it is characterised in that

The test section includes：

First test section, detects from first Power Generation Section electric current for flowing through；And

Second test section, detects from second Power Generation Section electric current for flowing through.

8. encoder apparatus according to claim 7, it is characterised in that

First test section carries out binaryzation to the electric power exported from first Power Generation Section, and second test section is to from institute The electric power for stating the output of the second Power Generation Section carries out binaryzation.

9. encoder apparatus according to claim 8, it is characterised in that

First test section includes：

First converter, will flow through the current transformation for coming into voltage from first Power Generation Section；And

First comparator, the voltage exported from first converter is compared with the assigned voltage,

Second test section includes：

Second converter, will flow through the current transformation for coming into voltage from second Power Generation Section；And

Second comparator, the voltage exported from second converter is compared with the assigned voltage.

10. encoder apparatus according to claim 9, it is characterised in that

The first comparator and second comparator are connected respectively to connecing for the reference potential that is supplied to the assigned voltage Ground wire.

11. encoder apparatus according to any one of claims 1 to 3, it is characterised in that

The test section includes：

First test section, detects the electric current from the Power Generation Section forward flow；And

Second test section, detects the electric current from the Power Generation Section reverse flow.

12. encoder apparatus according to claim 11, it is characterised in that

First test section carries out binaryzation to the electric power of the electric current based on the forward flow, and second test section is to base Binaryzation is carried out in the electric power of the electric current of the reverse flow.

13. encoder apparatus according to claim 12, it is characterised in that

First test section includes the first photoelectrical coupler for passing through the electric current of the forward flow,

Second test section includes the second photoelectrical coupler for passing through the electric current of the reverse flow.

14. encoder apparatus according to claim 13, it is characterised in that

The photo detector of the photo detector of first photoelectrical coupler and second photoelectrical coupler is connected respectively to and is supplied To the ground wire of the reference potential of the assigned voltage.

15. encoder apparatus according to any one of claim 11 to 14, it is characterised in that

The electric power adjustment portion includes：

Rectifier, carries out rectification to flowing through the electric current for coming from the Power Generation Section；And

Adjuster, by the Voltage Cortrol exported from the rectifier into the assigned voltage.

16. encoder apparatus according to any one of claim 7 to 15, it is characterised in that

The test section includes counter, and the counter detects the number of times of the electric current of pulse type and institute to first test section The difference of number of times for stating the electric current that the second test section detects pulse type is counted.

17. encoder apparatus according to claim 16, it is characterised in that

The counter is counted using the electric power exported from the electric power adjustment portion.

18. encoder apparatus according to claim 16 or 17, it is characterised in that

The counter is connected to the ground wire of the reference potential for being supplied to the assigned voltage.

19. encoder apparatus according to any one of claims 1 to 3, it is characterised in that

The test section includes the first magnetic-field detecting unit of the change in the magnetic field for detecting that the magnet is formed.

20. encoder apparatus according to claim 19, it is characterised in that

The magnet is that 4 poles have been carried out with magnetized magnet, and first magnetic-field detecting unit exists in the magnetic field intensity of the magnet Its inspection positions is detected when maximum.

21. encoder apparatus according to claim 20, it is characterised in that

First magnetic-field detecting unit includes first Magnetic Sensor in the magnetic field for detecting that the magnet is formed, and is connected to and is supplied to The ground wire of the reference potential of the assigned voltage, and the testing result to first Magnetic Sensor carries out binaryzation.

22. encoder apparatus according to claim 20 or 21, it is characterised in that

The move portion includes rotary shaft,

The test section includes the second magnetic-field detecting unit of the change in the magnetic field for detecting that the magnet is formed,

In the circumference of the rotary shaft, the inspection of the test position of first magnetic-field detecting unit and second magnetic-field detecting unit The difference that location is put is set to more than 45 ° and less than 135 °.

23. encoder apparatus according to claim 22, it is characterised in that

Second magnetic-field detecting unit includes second Magnetic Sensor in the magnetic field for detecting that the magnet is formed, and is connected to and is supplied to The ground wire of the reference potential of the assigned voltage, and the testing result to second Magnetic Sensor carries out binaryzation.

24. encoder apparatus according to any one of claim 19 to 23, it is characterised in that

The Power Generation Section includes：

First magnetosensitive portion, feels the magnetic field formed by the magnet；And

First Power Generation Section, produces electric power by the change in the magnetic field at the first magnetosensitive portion,

The test section includes detecting the of the positional information according to the change of the electric power from first Power Generation Section output One electric power test section.

25. encoder apparatus according to claim 24, it is characterised in that

The move portion includes rotary shaft,

In the circumference of the rotary shaft, the angle position in the test position of first magnetic-field detecting unit and the first magnetosensitive portion The difference put is set to more than 45 ° and less than 135 °.

26. encoder apparatus according to claim 24 or 25, it is characterised in that

The first electric power test section is connected to the ground wire of the reference potential for being supplied to the assigned voltage, to from described first The electric power of Power Generation Section output carries out binaryzation.

27. encoder apparatus according to any one of claim 24 to 26, it is characterised in that

The Power Generation Section includes：

Second magnetosensitive portion, feels the magnetic field formed by the magnet；And

Second Power Generation Section, produces electric power by the change in the magnetic field at the second magnetosensitive portion,

The test section includes detecting the of the positional information according to the change of the electric power from second Power Generation Section output Two electric power test sections.

28. encoder apparatus according to claim 27, it is characterised in that

The move portion includes rotary shaft,

In the circumference of the rotary shaft, the angle position in the angle position in the first magnetosensitive portion and the second magnetosensitive portion it Difference is set to more than 45 ° and less than 135 °.

29. encoder apparatus according to claim 27 or 28, it is characterised in that

The second electric power test section is connected to the ground wire of the reference potential for being supplied to the assigned voltage, to from described second The electric power of Power Generation Section output carries out binaryzation.

30. encoder apparatus according to claim 22 or 23, it is characterised in that

The test section includes counter, testing result and described second of the counter using first magnetic-field detecting unit The testing result of magnetic-field detecting unit is counting to the revolution of the rotary shaft.

31. encoder apparatus according to any one of claim 24 to 26, it is characterised in that

The move portion includes rotary shaft,

The test section includes counter, testing result and described first of the counter using first magnetic-field detecting unit The testing result of electric power test section is counting to the revolution of the rotary shaft.

32. encoder apparatus according to any one of claim 27 to 29, it is characterised in that

The move portion includes rotary shaft,

The test section includes counter, testing result and described second of the counter using the first electric power test section The testing result of electric power test section is counting to the revolution of the rotary shaft.

33. encoder apparatus according to any one of claim 30 to 32, it is characterised in that

The counter carries out computing using the electric power exported from the electric power adjustment portion.

34. encoder apparatus according to any one of claim 30 to 33, it is characterised in that

The counter is connected to the ground wire of the reference potential for being supplied to the assigned voltage.

35. encoder apparatus according to any one of claim 19 to 34, it is characterised in that

The electric power adjustment portion includes：

Rectifier, carries out rectification to flowing through the electric current for coming from the Power Generation Section；And

Adjuster, by the Voltage Cortrol exported from the rectifier into the assigned voltage.

36. encoder apparatus according to any one of claims 1 to 35, it is characterised in that

The move portion includes rotary shaft,

The encoder apparatus possess the angle detection of the angle information within a turn of the detection rotary shaft,

In the test section, the revolution of the rotary shaft is detected as the rotation information.

37. encoder apparatus according to any one of claims 1 to 36, it is characterised in that

At least a portion for the electric power that the electric power supply system supply is consumed by the test section.

38. encoder apparatus according to any one of claims 1 to 37, it is characterised in that

At least the one of the electric power that the electric power supply system supply is consumed by the storage part of the testing result for storing the test section Part.

39. encoder apparatus according to claim 38, it is characterised in that

The position detecting system possesses the storage part.

A kind of 40. driving means, possess：

Encoder apparatus described in any one of claims 1 to 39；

Power supplying part, is powered to the move portion；And

Control unit, the positional information detected using the test section of the encoder apparatus is controlling the power supply Portion.

A kind of 41. table devices, possess：

Mobile object；And

Driving means described in claim 40, make the mobile object movement.

A kind of 42. robot devices, possess：

Driving means described in claim 40；And

First arm and the second arm, carry out relative movement by the driving means.