CN111521200B - Transverse multi-gear multi-ring magnetoelectric encoder - Google Patents
Transverse multi-gear multi-ring magnetoelectric encoder Download PDFInfo
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- CN111521200B CN111521200B CN202010510105.7A CN202010510105A CN111521200B CN 111521200 B CN111521200 B CN 111521200B CN 202010510105 A CN202010510105 A CN 202010510105A CN 111521200 B CN111521200 B CN 111521200B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a transverse multi-gear multi-ring magnetoelectric encoder which can continuously supply power without depending on a battery power supply, and can acquire information of the number of turns of a rotor which has rotated by suddenly electrifying the rotor at a certain position. The invention comprises a gear structure, an encoder structure and an encoder shell. The invention realizes the deceleration rotation of the rear-stage gear by the deceleration matching of a plurality of groups of deceleration gears, the end part of each gear rotating shaft is adhered with a single-antipodal axially magnetized magnetic steel, two Hall devices with the phase difference of 90 degrees are arranged below the magnetic steel, the Hall devices calculate the change of a magnetic field to obtain absolute position information, the number of rotation turns of the current-stage gear can be obtained by the respective angle values of a second-stage gear encoder, a third-stage gear encoder and a fourth-stage gear encoder, and the value is an absolute value and can not be changed due to power supply.
Description
Technical Field
The invention discloses the field of magnetoelectric encoders, and particularly relates to a transverse multi-gear multi-ring magnetoelectric encoder.
Background
At wind power generation, application fields such as injection molding machine servo need record motor circular number value that motor rotor pivoted under the circular number value of circular current and not the circular current state, and shut down at the breakpoint, still can acquire the motor and rotate the circular number when electrifying once more, in order to realize this kind of function, the mode that this technical field adopted at present is for putting into a battery at the encoder inside, for the encoder lasts the power supply, when servo outage, the battery is the encoder power supply, just so guaranteed that the encoder can last record the current circular number value that has rotated of motor, but this kind of working method has certain problem, the battery of putting into in the encoder has the work prescription, when the battery energy is used up, then need change the battery again, then can't be before the record after the change battery the number of circles, system operational reliability is low.
In the wind power generation application field, a servo system is in a standby state most of the time, but natural wind can blow blades to rotate, in the wind power generation system in the deep sea field, when the electric quantity of a battery is exhausted, manpower is difficult to frequently enter to maintain an encoder, and therefore the encoder which can continuously supply power without depending on a battery power supply and can acquire the information of the number of turns of the current motor rotor is needed.
Disclosure of Invention
The invention aims to design an encoder which can obtain the information of the number of turns of a rotor which has rotated by suddenly electrifying the rotor at a certain position without relying on continuous power supply of a battery power supply.
The solution of the invention for solving the technical problem is as follows:
a transverse multi-gear multi-ring magnetoelectric encoder comprises a gear structure (1), an encoder structure (2) and an encoder shell (3); the method is characterized in that: the gear structure (1) is fixedly connected with the encoder shell (3), and the encoder structure (2) is in screw connection with the encoder shell (3);
the gear structure (1) consists of a gear a (1-1), a gear b (1-2), a gear c (1-3), a gear d (1-4), a bearing a (1-5), a bearing b (1-6), a bearing c (1-7), a bearing d (1-8), a rotating shaft a (1-9), a rotating shaft b (1-10), a rotating shaft c (1-11) and a rotating shaft d (1-12), wherein the bearing a (1-5), the bearing b (1-6), the bearing c (1-7) and the bearing d (1-8) are fixedly connected with an encoder shell (3), the rotating shaft a (1-9) is fixedly connected with the bearing a (1-5), the rotating shaft a (1-9) is fixedly connected with the gear a (1-1), and the rotating shaft b (1-10) is fixedly connected with the bearing b (1-6), a rotating shaft b (1-10) is fixedly connected with a gear b (1-2), a rotating shaft c (1-11) is fixedly connected with a bearing c (1-7), a rotating shaft c (1-11) is fixedly connected with a gear c (1-3), a rotating shaft d (1-12) is fixedly connected with a bearing d (1-8), a rotating shaft d (1-12) is fixedly connected with a gear d (1-4), a gear a (1-1) is meshed with a gear b (1-2) by 2-6, a gear b (1-2) is meshed with a gear c (1-3), and a gear c (1-3) is meshed with a gear d (1-4);
the encoder structure (2) consists of a single-pair-pole magnetic steel a (2-1), a single-pair-pole magnetic steel b (2-2), a single-pair-pole magnetic steel c (2-3), a single-pair-pole magnetic steel d (2-4), a single-pair-pole Hall a1(2-5), a single-pair-pole Hall a2(2-6), a single-pair-pole Hall b1(2-7), a single-pair-pole Hall b2(2-8), a single-pair-pole Hall c1(2-9), a single-pair-pole Hall c2(2-10), a single-pair-pole Hall d1(2-11), a single-pair-pole Hall d2(2-12) and an encoder signal resolving plate (2-13), wherein the single-pair-pole magnetic steel a (2-1) is glued with the rotating shaft a (1-9), the single-pair-pole magnetic steel b (2-2) is glued with the rotating shaft b (1-10), and the single-pair-pole magnetic steel c (2-11), the single-antipode magnetic steel d (2-4) is glued with the rotating shaft d (1-12), the single-antipode Hall a1(2-5), the single-antipode Hall a2(2-6), the single-antipode Hall b1(2-7), the single-antipode Hall b2(2-8), the single-antipode Hall c1(2-9), the single-antipode Hall c2(2-10), the single-antipode Hall d1(2-11), the single-antipode Hall d2(2-12) are welded with the encoder signal resolving plate (2-13) through soldering tin, and the encoder signal resolving plate (2-13) is in screw connection with the encoder shell (3); the deceleration rotation of the rear-stage gear is realized through the deceleration matching of a plurality of groups of deceleration gears, the end part of each gear rotating shaft is pasted with a single-pair-pole axially magnetized magnetic steel, two Hall devices with the phase difference of 90 degrees are arranged below the magnetic steel, and the Hall devices resolve the magnetic field change to obtain absolute position information; the gear reduction ratio is 2, the gear d1-4 rotates for 2 circles, the gear c1-3 rotates for 1 circle, the resolution of an encoder consisting of the single-antipodal Hall c12-9, the single-antipodal Hall c22-10 and the single-antipodal magnetic steel c2-3 corresponding to the rotating shaft c1-11 is 2, the number of circles of rotation of the gear d1-4 can be obtained through the angle values calculated by the single-antipodal Hall c12-9 and the single-antipodal Hall c22-10, and if the value calculated by the single-antipodal Hall c12-9 and the single-antipodal Hall c22-10 is 1, the gear d1-4 rotates for 2 circles; if the numerical value calculated by the single-pole Hall c12-9 and the single-pole Hall c22-10 is 2, the gear d1-4 rotates for 4 circles; if the numerical value calculated by the single-antipodal Hall c12-9 and the single-antipodal Hall c22-10 is 0.5, the gear d1-4 rotates for 1 circle; the number of rotations of the gear c1-3 can be read through the angle values calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8, if the value calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8 is 1, the gear c1-3 rotates for 2 circles, the gear d1-4 rotates for at least 4 circles, and if the value calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8 is 0.5, the gear d1-4 rotates for 5 circles in total. Similarly, the number of turns of rotation of the gear b1-2 can be read through the angle values calculated by the single-pole pair hall a12-5 and the single-pole pair hall a22-6, if the value calculated by the single-pole pair hall a12-5 and the single-pole pair hall a22-6 is 2, the gear b1-2 is rotated by 2 turns, the gear c1-3 is rotated by 4 turns, and if the value calculated by the single-pole pair hall c12-9 and the single-pole pair hall c22-10 is 0.5, the gear d1-4 is rotated by 9 turns in total. The number of the rotation turns of the current gear d1-4 can be known through the angle values calculated by the single-pole Hall c12-9, the single-pole Hall c22-10, the single-pole Hall b12-7, the single-pole Hall b22-8, the single-pole Hall a12-5 and the single-pole Hall a22-6, and the value is an absolute value and cannot be changed due to power supply.
The invention has the beneficial effects that:
1. the transverse multi-gear multi-ring magnetoelectric encoder is adopted, so that the absolute number of turns of the rotation number of the first-level gear can be read, and continuous power supply is not needed.
2. By adopting a transverse structure, the axial space of the whole system structure can be effectively reduced, and the device is suitable for the working requirement of a flat structure space.
3. The maximum value of absolute turns read by the first-stage gear rotor can be improved by adjusting the reduction ratio of the gear.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1: the invention has the overall structure schematic diagram;
FIG. 2 is a drawing: the bearing distribution of the invention is shown schematically;
FIG. 3 is a drawing: the encoder structure of the invention is shown schematically;
FIG. 4 is a drawing: gear mesh schematic of the invention;
FIG. 5: the Hall distribution schematic diagram of the invention;
in the figure, 1, a gear structure, 1-1, gears a, 1-2, gears b, 1-3, gears c, 1-4, gears d, 1-5, bearings a, 1-6, bearings b, 1-7, bearings c, 1-8, bearings d, 1-9, rotating shafts a, 1-10, rotating shafts b, 1-11, rotating shafts c, 1-12, rotating shafts d, 2, an encoder structure, 2-1, single-pair magnetic steel a, 2-2, single-pair magnetic steel b, 2-3, single-pair magnetic steel c, 2-4, single-pair magnetic steel d, 2-5, single-pair Hall a1, 2-6, single-pair Hall a2, 2-7, single-pair Hall b1, 2-8, single-pair Hall b2, 2-9, single-pair Hall c1, 2-10, single-1, The device comprises single-pole Hall c2, 2-11, single-pole Hall d1, 2-12, single-pole Hall d2, 2-13, an encoder signal resolving board, 3 and an encoder shell.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The structure of the invention is shown in figure 1, figure 2, figure 3, figure 4 and figure 5.
The invention relates to a transverse multi-gear multi-ring magnetoelectric encoder which comprises three parts, namely a gear structure 1, an encoder structure 2 and an encoder shell 3; the method is characterized in that: the gear knot 1 is fixedly connected with the encoder shell 3, and the encoder structure 2 is in screw connection with the encoder shell 3.
Furthermore, the gear structure 1 comprises a gear a1-1, a gear b1-2, a gear c1-3, a gear d1-4, a bearing a1-5, a bearing b1-6, a bearing c1-7, a bearing d1-8, a rotating shaft a1-9, a rotating shaft b1-10, a rotating shaft c1-11 and a rotating shaft d1-12, wherein the bearing a1-5, the bearing b1-6, the bearing c1-7 and the bearing d1-8 are fixedly connected with the encoder housing 3, the rotating shaft a1-9 is fixedly connected with the bearing a1-5, the rotating shaft a1-9 is fixedly connected with the gear a1-1, the rotating shaft b1-10 is fixedly connected with the bearing b1-6, the rotating shaft b1-10 is fixedly connected with the gear b1-2, the rotating shaft c1-11 is fixedly connected with the bearing c1-7, and the rotating shaft c1-11 is fixedly connected with the gear c1-3, the rotating shaft d1-12 is fixedly connected with a bearing d1-8, the rotating shaft d1-12 is fixedly connected with a gear d1-4, a gear a1-1 is meshed with a gear b1-2, a gear b1-2 is meshed with a gear c1-3, and a gear c1-3 is meshed with a gear d 1-4.
Further, the encoder structure 2 consists of single-pole-pair magnetic steel a2-1, single-pole-pair magnetic steel b2-2, single-pole-pair magnetic steel c2-3, single-pole-pair magnetic steel d2-4, single-pole-pair Hall a12-5, single-pole-pair Hall a22-6, single-pole-pair Hall b12-7, single-pole-pair Hall b22-8, single-pole-pair Hall c12-9, single-pole-pair Hall c22-10, single-pole-pair Hall d12-11, single-pole-pair Hall d22-12 and encoder signal resolving plates 2-13, wherein the single-pole-pair magnetic steel a2-1 is glued with the rotating shaft a1-9, the single-pole-pair magnetic steel b2-2 is glued with the rotating shaft b1-10, the single-pole-pair magnetic steel c2-3 is glued with the rotating shaft c1-11, the single-pole-pair magnetic steel d2-4 is glued with the rotating shaft d1-12, and the single-26 a-675 is glued with the rotating shaft d 12-12, The encoder signal resolving plate comprises a single-pole Hall a22-6, a single-pole Hall b12-7, a single-pole Hall b22-8, a single-pole Hall c12-9, a single-pole Hall c22-10, a single-pole Hall d12-11 and a single-pole Hall d22-12, and is welded with the encoder signal resolving plate 2-13 through soldering tin, and the encoder signal resolving plate 2-13 is connected with the encoder shell 3 through screws.
The working principle is as follows: the reduction and rotation of the rear-stage gear are realized through the reduction and matching of a plurality of groups of reduction gears, single-antipode axially magnetized magnetic steel is adhered to the end part of each gear rotating shaft, two Hall devices with the phase difference of 90 degrees are arranged below the magnetic steel, the Hall device calculates the change of a magnetic field to obtain absolute position information, the gear reduction ratio of the specific embodiment is 2, the gear d1-4 rotates for 2 circles, the gear c1-3 rotates for 1 circle, the single-antipode Hall device c12-9, the single-antipode Hall device c22-10 and the single-antipode magnetic steel c2-3 which correspond to the rotating shaft c1-11 form an encoder resolution of 2, thus the number of rotating circles of the gear d1-4 can be obtained through the angle values of the single-antipode Hall device c12-9 and the single-antipode Hall device c22-10, if the value calculated through the single-antipode Hall device c12-9 and the single-antipode Hall device c22-10 is 1, representing 2 revolutions of gear d 1-4; if the numerical value calculated by the single-pole Hall c12-9 and the single-pole Hall c22-10 is 2, the gear d1-4 rotates for 4 circles; if the value calculated by the single-pole Hall c12-9 and the single-pole Hall c22-10 is 0.5, the gear d1-4 rotates by 1 turn. Similarly, the number of rotations of the gear c1-3 can be read through the angle values calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8, if the value calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8 is 1, the gear c1-3 rotates 2 circles, the gear d1-4 rotates at least 4 circles, and if the value calculated by the single-pole pair Hall b12-7 and the single-pole pair Hall b22-8 is 0.5, the gear d1-4 rotates 5 circles in total. Similarly, the number of turns of rotation of the gear b1-2 can be read through the angle values calculated by the single-pole pair hall a12-5 and the single-pole pair hall a22-6, if the value calculated by the single-pole pair hall a12-5 and the single-pole pair hall a22-6 is 2, the gear b1-2 is rotated by 2 turns, the gear c1-3 is rotated by 4 turns, and if the value calculated by the single-pole pair hall c12-9 and the single-pole pair hall c22-10 is 0.5, the gear d1-4 is rotated by 9 turns in total. The number of the rotation turns of the current gear d1-4 can be known through the angle values calculated by the single-pole Hall c12-9, the single-pole Hall c22-10, the single-pole Hall b12-7, the single-pole Hall b22-8, the single-pole Hall a12-5 and the single-pole Hall a22-6, and the value is an absolute value and cannot be changed due to power supply.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A transverse multi-gear multi-ring magnetoelectric encoder comprises a gear structure (1), an encoder structure (2) and an encoder shell (3); the method is characterized in that: the gear structure (1) is fixedly connected with the encoder shell (3), and the encoder structure (2) is in screw connection with the encoder shell (3);
the gear structure (1) consists of a gear a (1-1), a gear b (1-2), a gear c (1-3), a gear d (1-4), a bearing a (1-5), a bearing b (1-6), a bearing c (1-7), a bearing d (1-8), a rotating shaft a (1-9), a rotating shaft b (1-10), a rotating shaft c (1-11) and a rotating shaft d (1-12), wherein the bearing a (1-5), the bearing b (1-6), the bearing c (1-7) and the bearing d (1-8) are fixedly connected with an encoder shell (3), the rotating shaft a (1-9) is fixedly connected with the bearing a (1-5), the rotating shaft a (1-9) is fixedly connected with the gear a (1-1), and the rotating shaft b (1-10) is fixedly connected with the bearing b (1-6), a rotating shaft b (1-10) is fixedly connected with a gear b (1-2), a rotating shaft c (1-11) is fixedly connected with a bearing c (1-7), a rotating shaft c (1-11) is fixedly connected with a gear c (1-3), a rotating shaft d (1-12) is fixedly connected with a bearing d (1-8), a rotating shaft d (1-12) is fixedly connected with a gear d (1-4), a gear a (1-1) is meshed with a gear b (1-2), a gear b (1-2) is meshed with a gear c (1-3), and a gear c (1-3) is meshed with a gear d (1-4);
the encoder structure (2) consists of a single-pair-pole magnetic steel a (2-1), a single-pair-pole magnetic steel b (2-2), a single-pair-pole magnetic steel c (2-3), a single-pair-pole magnetic steel d (2-4), a single-pair-pole Hall a1(2-5), a single-pair-pole Hall a2(2-6), a single-pair-pole Hall b1(2-7), a single-pair-pole Hall b2(2-8), a single-pair-pole Hall c1(2-9), a single-pair-pole Hall c2(2-10), a single-pair-pole Hall d1(2-11), a single-pair-pole Hall d2(2-12) and an encoder signal resolving plate (2-13), wherein the single-pair-pole magnetic steel a (2-1) is glued with the rotating shaft a (1-9), the single-pair-pole magnetic steel b (2-2) is glued with the rotating shaft b (1-10), and the single-pair-pole magnetic steel c (2-11), the single-antipode magnetic steel d (2-4) is glued with the rotating shaft d (1-12), the single-antipode Hall a1(2-5), the single-antipode Hall a2(2-6), the single-antipode Hall b1(2-7), the single-antipode Hall b2(2-8), the single-antipode Hall c1(2-9), the single-antipode Hall c2(2-10), the single-antipode Hall d1(2-11), the single-antipode Hall d2(2-12) are welded with the encoder signal resolving plate (2-13) through soldering tin, and the encoder signal resolving plate (2-13) is in screw connection with the encoder shell (3); the deceleration rotation of a rear-stage gear is realized through the deceleration matching of a plurality of groups of deceleration gears, the end part of each gear rotating shaft is attached with a single-antipode axially magnetized magnetic steel, two Hall devices with the phase difference of 90 degrees are arranged below the magnetic steel, and the Hall devices resolve the change of a magnetic field to obtain absolute position information; the gear reduction ratio is 2, the gear d (1-4) rotates for 2 circles, the gear c (1-3) rotates for 1 circle, the resolution of an encoder consisting of the single-pole-pair Hall c1(2-9), the single-pole-pair Hall c2(2-10) and the single-pole-pair magnetic steel c (2-3) corresponding to the rotating shaft c (1-11) is 2, therefore, the number of rotating circles of the gear d (1-4) can be obtained through the angle values calculated by the single-pole-pair Hall c1(2-9) and the single-pole-pair Hall c2(2-10), and if the value calculated by the single-pole-pair Hall c1(2-9) and the single-pole-pair Hall c2(2-10) is 1, the gear d (1-4) rotates for 2 circles; if the numerical value calculated by the single-antipodal Hall c1(2-9) and the single-antipodal Hall c2(2-10) is 2, the gear d (1-4) rotates for 4 circles; if the numerical value calculated by the single-pole Hall c1(2-9) and the single-pole Hall c2(2-10) is 0.5, the gear d (1-4) rotates for 1 circle; the number of rotations of the gear c (1-3) can be read through the angle values calculated by the single-pole hall b1(2-7) and the single-pole hall b2(2-8), if the values calculated by the single-pole hall b1(2-7) and the single-pole hall b2(2-8) are 1, the gear c (1-3) is rotated for 2 circles, the gear d (1-4) is rotated for at least 4 circles, and if the values calculated by the single-pole hall b1(2-7) and the single-pole hall b2(2-8) are 0.5, the gear d (1-4) is rotated for 5 circles in total; similarly, the number of rotations of the gear b (1-2) can be read through the angle values calculated by the single-antipodal hall a1(2-5) and the single-antipodal hall a2(2-6), if the values calculated by the single-antipodal hall a1(2-5) and the single-antipodal hall a2(2-6) are 2, the gear b (1-2) is rotated by 2 circles, the gear c (1-3) is rotated by 4 circles, and if the values calculated by the single-antipodal hall c1(2-9) and the single-antipodal hall c2(2-10) are 0.5, the gear d (1-4) is rotated by 9 circles in total; the number of rotation turns of the current gear d (1-4) can be known through the angle values calculated by the single-pole Hall c1(2-9), the single-pole Hall c2(2-10), the single-pole Hall b1(2-7), the single-pole Hall b2(2-8), the single-pole Hall a1(2-5) and the single-pole Hall a2(2-6), and the number is an absolute number and cannot be changed due to power supply or not.
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| CN116222625B (en) * | 2023-02-09 | 2023-09-12 | 哈尔滨理工大学 | Multi-parallel non-magnetic steel multi-turn encoder device and counting method thereof |
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| JP2016118457A (en) * | 2014-12-19 | 2016-06-30 | 日本ギア工業株式会社 | Rotary encoder |
| CN204788428U (en) * | 2015-06-24 | 2015-11-18 | 上海华伍行力流体控制有限公司 | Many rings of absolute encoder of magnetic induction |
| CN105698828A (en) * | 2016-03-11 | 2016-06-22 | 桂林数联汽车科技有限公司 | Multi-turn absolute encoder with parallel gear structure |
| CN107340005A (en) * | 2017-06-27 | 2017-11-10 | 珠海意动智能装备有限公司 | Multi-turn absolute value encoder, drive device, storage medium and control method |
| CN108844453A (en) * | 2018-06-06 | 2018-11-20 | 苏州博睿测控设备有限公司 | A kind of magnetoelectric multi-turn angular displacement absolute encoder |
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| CN111521200A (en) | 2020-08-11 |
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