CN113028961A - Linear encoder - Google Patents
Linear encoder Download PDFInfo
- Publication number
- CN113028961A CN113028961A CN202110218548.3A CN202110218548A CN113028961A CN 113028961 A CN113028961 A CN 113028961A CN 202110218548 A CN202110218548 A CN 202110218548A CN 113028961 A CN113028961 A CN 113028961A
- Authority
- CN
- China
- Prior art keywords
- signal
- module
- width
- level signal
- sensing module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a linear encoder, which comprises a first sensing module, a second sensing module and an operation module, wherein when a linear motor moves, the first sensing module induces ABZ signals on an incremental track, then the displacement of the linear motor is calculated according to an A signal and a B signal, a Z signal is generated at the fixed position of each magnetic pole, then the Z signals are subjected to logical operation with a level signal generated by the second sensing module to obtain a zero point position, and the width of the level signal in the application can be adjusted according to the width between two adjacent Z signals, so that a unique zero point can be obtained after the level signal and the Z signal are subjected to logical operation by adjusting the width of the level signal, for example, when the zero point is lost, the width of the level signal is increased, or when the zero point is not unique, the width of the level signal is reduced, so that when the level signal and the Z signal are subjected to logical operation, a unique zero point is obtained, thereby avoiding the condition that the zero point is not unique or the zero point is lost.
Description
Technical Field
The invention relates to the field of motor motion, in particular to a linear encoder.
Background
In the motion process of the linear motor, the linear encoder plays an important feedback role, wherein the linear motor comprises a magnetic scale and the linear encoder, when the linear encoder and the magnetic scale have relative displacement, the linear encoder feeds back displacement information in real time and outputs an ABZ signal, the back end resolves an AB signal to obtain the displacement of the linear motor, and the Z signal is processed to determine a zero position so that the motor can realize zero point regression action.
Specifically, referring to fig. 1, fig. 1 is a schematic diagram of a magnetic scale in the prior art, where the magnetic scale includes an incremental track and a reference track, the incremental track includes a plurality of N poles and S poles arranged continuously and alternately, the reference track includes a plurality of N poles and S poles, a linear encoder includes a magnetic sensing module and a switching magnetic sensing module, fig. 2 is a relative schematic diagram of the linear encoder and the magnetic scale in the prior art, where an incremental sensor in the linear encoder moves on the incremental track and outputs an a signal and a B signal having a phase difference of 90 °, and both the a signal and the B signal are pulse signals, and a specific angle of each magnetic pole on the incremental track has a Z signal output with a fixed width (about 1/4-1 width of an a-phase pulse or a B-phase pulse) under software control. Referring to fig. 3, fig. 3 is a waveform diagram of an output of a switching magnetic sensing module in the prior art, in which when a magnetic field strength sensed by the switching magnetic sensing module reaches a certain value, a high level signal is output, and the high level signal and a Z signal pass through an and gate and then output a zero point position.
In summary, in the prior art, the zero point position is determined by performing a logic operation on the high level signal and the Z signal output by the switching magnetic sensing module. However, the magnetizing of the magnetic scale in the prior art cannot achieve higher precision, especially a small number of magnetic poles of the reference track may have a magnetizing error, please refer to fig. 4, fig. 4 is a schematic diagram of the magnetic scale in the prior art when the magnetizing is too wide, for example, the magnetic pole distance is 1mm as a standard magnetic pole distance (the width between two adjacent Z signals (Z1 and Z2) is 1mm), the magnetizing of the magnetic pole in the reference track is too wide (the magnetic pole distance is 1.2mm), that is, the width of the high level signal output by the switching magnetic sensing module is 1.2mm, since the Z signal is a Z signal output at a specific angle of each magnetic pole, that is, a Z signal is output every 1mm, and 1.2mm >1mm, at this time, after the high level signal and the Z signal are and-operated, two zero positions may occur, and a condition of zero point may occur.
In addition, because the magnetic field intensity corresponding to the level jump of the switch magnetic sensing module is fixed and the magnetic field of the magnetic scale is attenuated violently, when a PCB (printed circuit board) is mounted with a mechanism, the accumulated distance error between the magnetic sensing module and the magnetic scale easily causes the high level width output by the switch magnetic sensing module to be smaller than the magnetic pole width, and if the Z signal is closer to the edge of the high level signal output by the switch magnetic sensing module, the zero point loss condition may occur. Referring to fig. 5, fig. 5 is a schematic diagram illustrating a switching magnetic sensing module in the prior art when the output high level width is too narrow. The distance between two adjacent Z signals is 1mm, and if the high-level signal output by the switching magnetic sensing module is 0.9mm due to an error, the zero point may be lost.
Disclosure of Invention
The invention aims to provide a linear encoder which can determine a unique zero point and avoid the condition that the zero point is not unique or is lost.
To solve the above technical problem, the present invention provides a linear encoder, including:
the sensor comprises a first sensing module, a second sensing module and a third sensing module, wherein the first sensing module moves along a rotor of a linear motor and is used for moving on an incremental track when the linear motor moves and generating an ABZ signal, and the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module is used for moving on a reference track when the linear motor moves and generating a level signal with adjustable width when the linear motor passes through a magnetic pole on the reference track, and the width of the level signal corresponds to the width between two adjacent Z signals so that the level signal and the Z signals determine a unique zero position after logical operation;
and the operation module is respectively connected with the first sensing module and the second sensing module and is used for performing logic operation on the width-adjustable level signal and the Z signal to determine a zero position.
Preferably, the second sensing module includes:
the sensing element is used for outputting a sinusoidal voltage signal according to the change of the magnetic field intensity when moving on the reference track;
the voltage output module is used for outputting a reference voltage value, and the reference voltage value is adjustable;
and the comparator is used for comparing the sine voltage signal with the reference voltage value and outputting a corresponding level signal.
Preferably, the first input terminal of the comparator is an input negative terminal, and the second input terminal of the comparator is an input positive terminal;
the comparator is specifically used for outputting a low-level signal when the voltage of the sinusoidal signal is greater than the reference voltage; and outputting a high-level signal when the voltage of the sinusoidal signal is less than the reference voltage.
Preferably, the Z signal is a forward pulse signal;
the operation module is specifically configured to perform a logical and operation on the high level signal and the Z signal, and determine a corresponding position when the high level signal is output as a zero point position.
Preferably, an absolute value of a difference between the width of the high-level signal and the width of the magnetic pole in the incremental track is not greater than a preset value.
Preferably, the method further comprises the following steps:
the first detection module is connected with the output end of the comparator and is used for detecting the width of the high-level signal output by the comparator;
and the processing module is connected with the first detection module and used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not greater than a preset value or not, and if not, controlling an alarm device to send out first alarm information.
Preferably, the method further comprises the following steps:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in a single direction;
the processing module is further used for judging whether the number of the zero positions is 1 or not, and if not, the alarm device is controlled to send out second alarm information.
Preferably, the voltage output module comprises a power supply module, a first resistance module and a first resistance;
the first end of the first resistor module is connected with the output end of the power supply module, the second end of the first resistor module is respectively connected with the first end of the first resistor and the second output end of the comparator, the second end of the first resistor is grounded, and the resistance value of the first resistor module is adjustable.
The application provides a linear encoder, which comprises a first sensing module, a second sensing module and an operation module, wherein when a linear motor moves, the first sensing module can sense ABZ signals on an incremental track, then the displacement of the linear motor can be calculated according to an A signal and a B signal, a Z signal is generated at the fixed position of each magnetic pole, then the Z signals are subjected to logical operation with a level signal generated by the second sensing module to obtain a zero point position, and the width of the level signal in the linear encoder can be adjusted according to the width between two adjacent Z signals, so that a unique zero point can be obtained after the level signal and the Z signal are subjected to logical operation by adjusting the width of the level signal, for example, when the zero point is lost, the width of the level signal is increased, or when the zero point is not unique, the width of the level signal is reduced, so that when the level signal and the Z signal are subjected to logical operation, a unique zero point is obtained, thereby avoiding the condition that the zero point is not unique or the zero point is lost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of a prior art magnetic scale;
FIG. 2 is a schematic diagram of a prior art linear encoder relative to a magnetic scale;
FIG. 3 is a waveform diagram of the output of a prior art switching magnetic sensing module;
FIG. 4 is a schematic view of a prior art magnetic scale during an over-wide magnetizing;
FIG. 5 is a diagram illustrating a prior art switching magnetic sensor module with too narrow high level output width;
FIG. 6 is a block diagram of a linear encoder according to the present invention;
FIG. 7 is a block diagram of another linear encoder according to the present invention;
FIG. 8 is a graph of voltage waveforms of the positive input terminal and the negative input terminal of a comparator according to the present invention;
fig. 9 is a schematic diagram of a linear encoder according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a linear encoder which can determine the only zero point and avoid the condition that the zero point is not only or is lost.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 6, fig. 6 is a block diagram of a linear encoder according to the present invention, the linear encoder includes:
the sensor comprises a first sensing module 1 moving along with a rotor of the linear motor, a second sensing module and a third sensing module, wherein the first sensing module 1 is used for moving on an incremental track when the linear motor moves and generating an ABZ signal, and the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module 2 is used for moving on the reference track when the linear motor moves and generating a level signal with adjustable width when the linear motor passes through a magnetic pole on the reference track, and the width of the level signal corresponds to the width between two adjacent Z signals so that the level signal and the Z signals determine a unique zero point position after logical operation;
and the operation module is respectively connected with the first sensing module 1 and the second sensing module 2 and is used for performing logic operation on the width-adjustable level signal and the Z signal to determine the zero position.
The zero point loss condition caused by the fact that the zero point is not unique due to the fact that the magnetizing is too wide or the high level width of the output of the switching magnetic sensing module is too narrow can occur in the mode of determining the zero point in the prior art.
The applicant considers that zero point loss or zero point non-uniqueness in the prior art is basically that the width of a high level is uncertain, that is, the zero point is not unique due to the fact that the width of the high level is too wide, and the zero point is lost due to the fact that the width of the high level is too narrow, so that the design idea of the application is to design a module for generating a level signal, and the width of the level signal is adjustable, and specifically, the adjustment is performed according to the width between two adjacent Z signals, so that a unique zero point position can be obtained after the Z signal and the level signal are subjected to logic operation.
Based on this, the linear encoder in the present application includes a first sensing module 1, a second sensing module 2 and an operation module, and specifically, referring to fig. 1 and 2, a magnetic scale is disposed on a linear motor, the magnetic scale is divided into an incremental track and a reference track, the linear encoder is disposed on a mover of the linear motor, when the linear motor moves, the first sensing module 1 and the second sensing module 2 move on the magnetic scale, wherein, the first sensing module 1 moves on the incremental track and senses a plurality of AB signals and a Z signal every period, wherein the AB signal is a pulse signal, the pulse number of the AB signal is 1/4 of the resolution of the linear encoder, the displacement of the linear motor can be determined according to the AB signal, since the Z signal is output at a fixed angle of each magnetic pole, the width of two adjacent Z signals is fixed, which is equivalent to the magnetic pole width. In addition, the method generates a level signal with adjustable width, and the width of the level signal is adjusted according to the width between two adjacent Z signals, so that a unique zero position can be obtained after the Z signal and the level signal are subjected to logic operation.
It should be noted that, if the standard pole pitch is 1mm, that is, the width between two Z signals is 1mm, the width of the level signal in the present application is generally set to about 1mm, for example, 0.99mm or 0.98mm, so that when the level signal and the Z signal perform logic operation, there is only one Z signal in the width corresponding to the level width, thereby implementing uniqueness of the zero point position. In addition, the specific composition of the second sensing module 2 in the present application is not limited herein.
In summary, the linear encoder in the present application can determine a unique zero point position, and can avoid the situation that the zero point is not unique or lost.
On the basis of the above-described embodiment:
referring to fig. 7, fig. 7 is a block diagram of another linear encoder according to the present invention.
As a preferred embodiment, the second sensing module 2 includes:
a sensing element 22 for outputting a sinusoidal voltage signal according to the change of the magnetic field strength when moving on the reference track;
the voltage output module 21 is used for outputting a reference voltage value, and the reference voltage value is adjustable;
and the comparator 23 is connected with the first input end of the sensing element 22 and the second input end of the sensing element and the voltage output module 21, and is used for comparing the sinusoidal voltage signal with a reference voltage value and outputting a corresponding level signal.
The present application aims to provide a specific implementation manner of the second sensing module 2, specifically, the second sensing module includes a sensing element 22 capable of generating a sinusoidal voltage signal according to a magnetic field intensity change, a voltage output module 21 capable of outputting an adjustable reference voltage value, and a comparator 23, which compares the sinusoidal voltage signal with the reference voltage value to output a level signal with a certain width. Specifically, by adjusting the reference voltage value, the width of the level signal output by the comparator 23 is adjusted.
For example, the magnetizing of the magnetic scale is too wide, so that the level signal corresponding to the output voltage value corresponding to the reference voltage value corresponding to that time is too wide, and thus two Z signals are corresponding to the width of the level signal, and a situation that the zero point is not unique occurs, at this time, the reference voltage value can be adjusted to reduce the width of the level signal output by the comparator 23, so that only one Z signal corresponds to the width range of the level signal, and thus the zero point position is unique.
In summary, the second sensing module 2 in the present application can generate a level signal with an adjustable width when the linear motor moves, that is, the second sensing module 2 moves on the reference track and passes through the magnetic pole on the reference track, where the width of the level signal corresponds to the width between two adjacent Z signals, so that the level signal and the Z signal determine a unique zero point position after logical operation
As a preferred embodiment, the first input terminal of the comparator 23 is an input negative terminal, and the second input terminal of the comparator 23 is an input positive terminal;
the comparator 23 is specifically configured to output a low level signal when the voltage of the sinusoidal signal is greater than the reference voltage; and outputting a high-level signal when the voltage of the sinusoidal signal is less than the reference voltage.
Specifically, in the present application, an output end of the sensing element 22 is connected to an input negative terminal of the comparator 23, an output end of the voltage output module 21 is connected to an input positive terminal of the comparator 23, please refer to fig. 8, and fig. 8 is a voltage waveform diagram of the input positive terminal and the input negative terminal of the comparator according to the present invention, wherein when a voltage value of a sinusoidal voltage signal output by the voltage output module 21 is greater than a reference voltage value, a low level signal is output, and when the voltage value of the sinusoidal voltage signal output by the voltage output module 21 is less than the reference voltage value, a high level signal is output.
In summary, the connection manner in this embodiment can realize outputting the level signal with adjustable width, and the implementation manner is simple.
As a preferred embodiment, the Z signal is a forward pulse signal;
the operation module is specifically used for performing logic and operation on the high level signal and the Z signal, and determining the corresponding position when the high level signal is output as a zero point position.
Specifically, when the Z signal in the present application is a forward pulse signal, the operation module performs a logical and operation on the width-adjustable level signal and the Z signal, that is, a position corresponding to the detected Z signal is a zero position within a width range of the high level signal. Usually, the width of the high-level signal is adjusted to be the same as the width between two adjacent Z signals, and if the width between two adjacent Z signals is 1mm, the width of the high-level signal is set to be 1mm, please refer to fig. 8, by adjusting the reference voltage value, the width of the output high-level signal can be adjusted, so that only one Z signal is within the width range, thereby obtaining a zero point position.
It should be noted that, in this case, only one unique zero point position can be obtained after all the high level signals output by the second sensing module 2 in the present application are logically operated with the Z signal. That is, the number of magnetic poles on the sensing element 22 and the reference track and the reference voltage value are combined to obtain only one unique zero point position, and the number of magnetic poles on the specific reference track and the specific implementation of the sensing element 22 and the specific value of the reference voltage value are not particularly limited in this application.
In addition, referring to fig. 9, fig. 9 is a specific implementation schematic diagram of a linear encoder provided by the present invention, the operation module in the present application may be, but is not limited to, an and gate, that is, the output end of the comparator 23 and the output end of the Z signal are both connected to the input end of the and gate, when a high level signal and the Z signal are simultaneously input to the input end of the and gate, the and gate outputs a high level, and a position corresponding to the high level is a zero position.
In summary, the operation module in this embodiment can implement the function of determining the zero point position, and implement simple logic and easy operation.
As a preferred embodiment, the absolute value of the difference between the width of the high-level signal and the width of the magnetic pole in the incremental track is not greater than a preset value.
Considering that the width fine adjustment of the level signal output by the second sensing module 2 may be caused by the magnetizing error of the magnetic scale or the mounting of the PCB and the mechanism, in order to adjust the width of the level signal infrequently, the present application allows a certain error to exist between the width of the high level signal and the width of the magnetic pole in the incremental track, that is, the absolute value of the difference between the two is not greater than the preset value. The width of the magnetic pole is also the width between two adjacent Z signals.
Specifically, when the magnetic pole width is 1mm, the width of the high-level signal is usually set to 0.99mm or 0.98 mm.
In summary, the method in this embodiment can avoid frequent adjustment of the width of the level signal on the premise of ensuring a certain accuracy.
As a preferred embodiment, the method further comprises the following steps:
the first detection module is connected with the output end of the comparator 23 and is used for detecting the width of the high-level signal output by the comparator 23;
and the processing module is connected with the first detection module and used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not greater than a preset value or not, and if not, controlling the alarm device to send out first alarm information.
The embodiment aims to provide a basis for adjusting the level width, specifically, the first detection module detects the width of a high level signal output by the comparator 23, and controls to send out first alarm information when the absolute value of the difference value between the width of the high level signal and the width of a magnetic pole in an incremental track is not less than a preset value, so as to remind a worker to adjust the width of the high level signal in time, so as to ensure the uniqueness of a zero point position, and products of the same type only need to adjust a small number of prototype machines to determine a required reference voltage value of the comparator.
In conclusion, the method in the embodiment can enable the staff to know the width of the high-level signal in time and adjust the width in time when the width does not meet the requirement, so as to ensure the accuracy of the zero position.
As a preferred embodiment, the method further comprises the following steps:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in a single direction;
the processing module is further used for judging whether the number of the zero positions is 1 or not, and if not, the alarm device is controlled to send out second alarm information.
Considering that there may be some reason, such as the width of the level signal is not adjusted in time by the operator, and the zero point may be not unique or the zero point is lost, based on this, the present application further sets the number of the zero point positions detected by the second detection module, so that the linear motor continuously moves in one direction through the preset zero point, when the Z signal is a forward pulse signal and performs an and operation with the high level signal, the number of the zero point positions detected by the second detection module is also the number of the high level signals output by the detection operation module, and when the Z signal is not unique or lost, the second alarm information is sent out to remind the operator to perform the processing in time, thereby further ensuring the accuracy of the zero point position,
as a preferred embodiment, the voltage output module 21 includes a power supply module, a first resistor module and a first resistor;
the first end of the first resistor module is connected to the output end of the power module, the second end of the first resistor module is connected to the first end of the first resistor and the second output end of the comparator 23, the second end of the first resistor module is grounded, and the resistance of the first resistor module is adjustable.
Specifically, the voltage output module 21 in the present application is composed of a power module and a voltage dividing resistor (i.e., a first resistor module and a first resistor), and the reference voltage value output by the voltage output module 21 can be changed by adjusting the ratio of the first resistor module to the first resistor, i.e., adjusting the resistance of the first resistor module.
The first resistance module in this application may be a sliding rheostat, that is, a tap of the sliding rheostat is moved, or a welding resistor, that is, by changing the number and the resistance value of the welding resistor, the position of a line corresponding to the reference voltage value in fig. 8 may move up and down, and then the high level width output by the comparator 23 is changed.
In summary, the function of outputting the adjustable reference voltage value can be realized by the method in the embodiment, and the realization method is simple and easy to operate.
Note that the position of the stable zero point is determined by the relative positions of the reference track of the magnetic scale, the position of the linear sensor chip 11, and the sensor element 22. The Z signal can be centered on the high level signal output from the comparator 23 by shifting the relative positions of the three. Wherein, changing the relative position of the three is equivalent to moving the Z signal in the width range of the high level signal, and making the Z signal locate at the center of the high level, thus can prevent the zero point signal from not only being unique, and can also allow larger patch installation error.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A linear encoder, comprising:
the sensor comprises a first sensing module, a second sensing module and a third sensing module, wherein the first sensing module moves along a rotor of a linear motor and is used for moving on an incremental track when the linear motor moves and generating an ABZ signal, and the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module is used for moving on a reference track when the linear motor moves and generating a level signal with adjustable width when the linear motor passes through a magnetic pole on the reference track, and the width of the level signal corresponds to the width between two adjacent Z signals so that the level signal and the Z signals determine a unique zero position after logical operation;
and the operation module is respectively connected with the first sensing module and the second sensing module and is used for performing logic operation on the width-adjustable level signal and the Z signal to determine a zero position.
2. The linear encoder of claim 1, wherein the second sensing module comprises:
the sensing element is used for outputting a sinusoidal voltage signal according to the change of the magnetic field intensity when moving on the reference track;
the voltage output module is used for outputting a reference voltage value, and the reference voltage value is adjustable;
and the comparator is used for comparing the sine voltage signal with the reference voltage value and outputting a corresponding level signal.
3. The linear encoder of claim 2, wherein the first input of the comparator is an input negative terminal and the second input of the comparator is an input positive terminal;
the comparator is specifically used for outputting a low-level signal when the voltage of the sinusoidal signal is greater than the reference voltage; and outputting a high-level signal when the voltage of the sinusoidal signal is less than the reference voltage.
4. The linear encoder of claim 3, wherein the Z signal is a positive going pulse signal;
the operation module is specifically configured to perform a logical and operation on the high level signal and the Z signal, and determine a corresponding position when the high level signal is output as a zero point position.
5. The linear encoder of claim 4, wherein an absolute value of a difference between the width of the high level signal and the width of the magnetic pole in the incremental track is not greater than a preset value.
6. The linear encoder of claim 5, further comprising:
the first detection module is connected with the output end of the comparator and is used for detecting the width of the high-level signal output by the comparator;
and the processing module is connected with the first detection module and used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not greater than a preset value or not, and if not, controlling an alarm device to send out first alarm information.
7. The linear encoder of claim 4, further comprising:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in a single direction;
the processing module is further used for judging whether the number of the zero positions is 1 or not, and if not, the alarm device is controlled to send out second alarm information.
8. The linear encoder according to any one of claims 2-7, wherein the voltage output module comprises a power supply module, a first resistance module and a first resistance;
the first end of the first resistor module is connected with the output end of the power supply module, the second end of the first resistor module is respectively connected with the first end of the first resistor and the second output end of the comparator, the second end of the first resistor is grounded, and the resistance value of the first resistor module is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218548.3A CN113028961B (en) | 2021-02-26 | 2021-02-26 | Linear encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110218548.3A CN113028961B (en) | 2021-02-26 | 2021-02-26 | Linear encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113028961A true CN113028961A (en) | 2021-06-25 |
| CN113028961B CN113028961B (en) | 2023-06-06 |
Family
ID=76461825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110218548.3A Active CN113028961B (en) | 2021-02-26 | 2021-02-26 | Linear encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113028961B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113271117A (en) * | 2021-07-20 | 2021-08-17 | 上海芯龙半导体技术股份有限公司南京分公司 | Encoder circuit and communication chip |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3597749A (en) * | 1968-01-29 | 1971-08-03 | Sony Corp | Magnetic heads utilized as a displacement measuring instrument |
| JPS60244813A (en) * | 1984-05-21 | 1985-12-04 | Inoue Japax Res Inc | Zero-point detecting device for magnetic encoder |
| JPS62180216A (en) * | 1986-02-05 | 1987-08-07 | Inoue Japax Res Inc | Origin detecting device for magnetic encoder |
| JPS63234109A (en) * | 1987-03-23 | 1988-09-29 | Sotsukishiya:Kk | Zero-point detector for magnetic encoder |
| JPH02287210A (en) * | 1989-04-28 | 1990-11-27 | Sokkisha Co Ltd | Zero point detecting system for incremental type magnetic encoder |
| US20030173956A1 (en) * | 2002-03-15 | 2003-09-18 | Ntn Corporation | Bearing assembly equipped with rotation sensor capable of detecting home position |
| DE102007004358A1 (en) * | 2007-01-29 | 2007-07-05 | Bachmann Gmbh | Position measuring system for use as rotary encoder, has incremental rotary and linear encoder, where error signal is produced during deviation between counted encoder impulses and expected impulses of encoder |
| US20090102460A1 (en) * | 2007-07-27 | 2009-04-23 | Melexis Nv Microelectronic Integrated Systems | Position sensor |
| CN104246446A (en) * | 2012-04-20 | 2014-12-24 | 迪姆肯公司 | Magnetic encoder for producing an index signal |
| CN109477736A (en) * | 2016-05-25 | 2019-03-15 | 瑞尼斯豪公司 | Adaptive reference marks detection process |
| WO2020115464A1 (en) * | 2018-12-04 | 2020-06-11 | Renishaw Plc | Encoder apparatus |
| CN111811544A (en) * | 2020-07-09 | 2020-10-23 | 赛卓微电子(深圳)有限公司 | Method for zeroing incremental encoder IC |
-
2021
- 2021-02-26 CN CN202110218548.3A patent/CN113028961B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3597749A (en) * | 1968-01-29 | 1971-08-03 | Sony Corp | Magnetic heads utilized as a displacement measuring instrument |
| JPS60244813A (en) * | 1984-05-21 | 1985-12-04 | Inoue Japax Res Inc | Zero-point detecting device for magnetic encoder |
| JPS62180216A (en) * | 1986-02-05 | 1987-08-07 | Inoue Japax Res Inc | Origin detecting device for magnetic encoder |
| JPS63234109A (en) * | 1987-03-23 | 1988-09-29 | Sotsukishiya:Kk | Zero-point detector for magnetic encoder |
| JPH02287210A (en) * | 1989-04-28 | 1990-11-27 | Sokkisha Co Ltd | Zero point detecting system for incremental type magnetic encoder |
| US20030173956A1 (en) * | 2002-03-15 | 2003-09-18 | Ntn Corporation | Bearing assembly equipped with rotation sensor capable of detecting home position |
| DE102007004358A1 (en) * | 2007-01-29 | 2007-07-05 | Bachmann Gmbh | Position measuring system for use as rotary encoder, has incremental rotary and linear encoder, where error signal is produced during deviation between counted encoder impulses and expected impulses of encoder |
| US20090102460A1 (en) * | 2007-07-27 | 2009-04-23 | Melexis Nv Microelectronic Integrated Systems | Position sensor |
| CN104246446A (en) * | 2012-04-20 | 2014-12-24 | 迪姆肯公司 | Magnetic encoder for producing an index signal |
| CN109477736A (en) * | 2016-05-25 | 2019-03-15 | 瑞尼斯豪公司 | Adaptive reference marks detection process |
| WO2020115464A1 (en) * | 2018-12-04 | 2020-06-11 | Renishaw Plc | Encoder apparatus |
| CN111811544A (en) * | 2020-07-09 | 2020-10-23 | 赛卓微电子(深圳)有限公司 | Method for zeroing incremental encoder IC |
Non-Patent Citations (2)
| Title |
|---|
| LEI WANG 等: "Study on the Temperature Drift Adaptive Compensation Algorithm of a Magneto-Electric Encoder Based on a Simple Neuron", 《JOURNAL OF POWER ELECTRONICS》 * |
| 顾宗悫: "提高磁栅检测精度的一种方案——自动调节偏磁与幅值的磁栅数显表的研制", 《南京工学院学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113271117A (en) * | 2021-07-20 | 2021-08-17 | 上海芯龙半导体技术股份有限公司南京分公司 | Encoder circuit and communication chip |
| CN113271117B (en) * | 2021-07-20 | 2021-10-01 | 上海芯龙半导体技术股份有限公司南京分公司 | Encoder circuit and communication chip |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113028961B (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6874244B2 (en) | Elevator installation with a measuring system for determining absolute car position | |
| US8339126B2 (en) | Position-measuring device for determining relative positions and method of its operation | |
| EP2008064B1 (en) | Methods and apparatus for dynamic offset adjustment in a magnetic article detector | |
| EP1236973B1 (en) | Method and device for varying interpolation factors | |
| US5963001A (en) | Circuit arrangement and method for operating an adjusting device | |
| US7184914B2 (en) | Sensor signal processor | |
| US6342697B1 (en) | Method and apparatus for detecting origin of measurement | |
| US20100078548A1 (en) | Encoder in which the relative displacement between the encoder scale and encoder head is detected | |
| CN113028961A (en) | Linear encoder | |
| JPH11508698A (en) | Method for setting switching point in sensor output signal | |
| US8990044B2 (en) | Revolution counter and method for determining the number of revolutions of a shaft | |
| US6963820B2 (en) | Analog encoder method for determining distance moved | |
| CN113008117B (en) | Linear magnetic grid system | |
| JP2003065803A (en) | Photoelectric encoder | |
| US20110209351A1 (en) | Arrangement and method for generating a reference impulse for a position measuring device | |
| JP2007064755A (en) | Signal processing circuit for encoder | |
| CN104713465A (en) | Displacement measuring device and method based on spiral resistor | |
| SE506154C2 (en) | Method and apparatus for inductively measuring the dimensions and position of objects of electrically conductive material | |
| EP0618373A1 (en) | Position indicator | |
| JPH08184464A (en) | Position measuring device | |
| CN109844462B (en) | Pulse conversion device and pulse conversion method for incremental encoder | |
| US20180123588A1 (en) | Method for adjusting a proximity switch and proximity switch | |
| US6285156B1 (en) | Sensorless step recognition process for stepping motors | |
| JP3064227B2 (en) | Position detection device | |
| JP2007127560A (en) | Position-detecting device, scale, and method of resetting origin of the position-detecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |