CN114608621B - Multi-turn absolute value magnetic encoder and assembly method thereof - Google Patents
Multi-turn absolute value magnetic encoder and assembly method thereof Download PDFInfo
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- CN114608621B CN114608621B CN202011413104.7A CN202011413104A CN114608621B CN 114608621 B CN114608621 B CN 114608621B CN 202011413104 A CN202011413104 A CN 202011413104A CN 114608621 B CN114608621 B CN 114608621B
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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
- G01D5/14—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 the magnitude of a current or voltage
- G01D5/142—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 the magnitude of a current or voltage using Hall-effect devices
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- 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
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/24—Housings ; Casings for instruments
- G01D11/245—Housings for sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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Abstract
The invention relates to a multi-turn absolute value magnetic encoder and an assembly method thereof, wherein the multi-turn absolute value magnetic encoder comprises a PCB substrate, a corner measuring module arranged on the PCB substrate and a multi-stage gear transmission system connected with the corner measuring module, wherein each stage of gear transmission system in the multi-stage gear transmission system comprises a main transmission gear, a driven gear and a gap eliminating mechanism connected with the main transmission gear and the driven gear.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a multi-turn absolute value magnetic encoder and an assembly method thereof, wherein the multi-turn absolute value magnetic encoder adopts a threaded anti-backlash gear transmission, can realize unique coding of any position, and can realize high-precision measurement of a rotating angle.
Background
The absolute value encoder has the large data code in advance, each position is unique code in the whole specified measuring process, and no new code is generated after the absolute value encoder is used. Currently, there are three main types of multi-turn absolute value encoders on the market: the first type is an electronic counting type multi-turn absolute value encoder, which is absolute in 360 degrees, returns to zero after exceeding 360 degrees, and increases the encoding of the multi-turn encoder by increasing and decreasing a counter. I.e. the original code of the multi-turn data is not available, but is fetched from the register and a new code is obtained by means of a counter when used. Although such multi-turn absolute value encoders implement multi-turn absolute position counting as disclosed in the patent publication nos. CN204202625U and CN208847208U, such multi-turn absolute value encoders all require external power supply, and the system once powered off requires external battery or power supply module to supply power, otherwise, data loss is easy to occur; that is, the electronic counting type multi-turn absolute value encoder is poor in reliability and fault tolerance. The second type is a mechanical multi-turn absolute value encoder, such as the encoders disclosed in patent publication nos. CN2028855839U and CN108592955B, in which there is a gear transmission structure similar to that of a running water meter, i.e. a series of reduction gear sets meshed with the main mechanical shaft step by step, and each stage of gear has an integer multiple reduction ratio relationship with the previous stage of gear and the main mechanical shaft. Therefore, the detection of the number of rotations of the mechanical shaft of the encoder can be realized by identifying the rotation angle position of each gear, so that absolute uniqueness of any position code is realized. However, this type of encoder has high manufacturing cost, the transmission accuracy is limited by the processing accuracy of the gears, and transmission gaps exist between the gear transmissions, which inevitably have an influence on the encoder accuracy. The third type is a wiegand effect encoder, such as an encoder disclosed in patent publication CN103344262B, where a wiegand coil made based on the wiegand effect is placed in a magnetic encoder and is close to an end magnet on a mechanical shaft, so that an electric pulse excited at two ends of the coil can be rotated by means of a magnetic field to trigger a counting and accumulating action of an internal register of the wiegand effect encoder, so as to realize the turn number detection of the magnetic encoder, and a multi-turn absolute value encoder based on the wiegand effect, wherein the basic principle of multi-turn number detection is the same as that of the battery counting and accumulating register, except that the wiegand coil is used, so that the turn number accumulation no longer needs to depend on battery power supply and code disc reading. However, this still does not change the fact that its position code is calculated based on historical data. Drawbacks of such encoders include: the number of turns and position record in the register are easy to lose accidentally due to electrical or software reasons such as line interference, storage failure, counting error and the like, so that the problem of failure of the multi-turn absolute value feedback function of the encoder is caused.
In general, the existing encoder has the problems that the encoding position is easy to be interfered by electricity and software, the encoding position cannot be absolutely unique, and data loss is easy to occur due to the influence of system outage, so that the stability and reliability of rotation angle measurement of the existing encoder are low.
Disclosure of Invention
The invention aims to provide a multi-turn absolute value magnetic encoder which adopts gear transmission and purely mechanical position encoding, is not influenced by electric and software problems, and can realize absolute uniqueness of any position encoding; the external power supply is not required to be arranged, the influence of system power failure is avoided, and long-time power failure or non-working data cannot be lost, so that the system has high stability and high reliability; in addition, the gear transmission also adopts a thread clearance eliminating mechanism, so that transmission clearance can be effectively reduced, and high-precision measurement of the magnetic encoder is realized.
The multi-turn absolute value magnetic encoder is suitable for being fixedly connected with a motor and comprises a PCB substrate, a corner measuring module arranged on the PCB substrate and a multi-stage gear transmission system connected with the corner measuring module; the rotation angle measuring module is used for detecting rotation angles of all levels of gear transmission systems of the multi-level gear transmission system and calculating rotation angles of the motor based on the rotation angles of all levels of gear transmission systems of the multi-level gear transmission system; each stage of gear transmission system in the multistage gear transmission system comprises a main transmission gear, a driven gear and a gap eliminating mechanism connected with the main transmission gear and the driven gear, the gap eliminating mechanism comprises a threaded column and a thin elastic body, the tail ends of rear output shafts of the threaded column and the motor are connected with the corner measuring module, the driven gear and the main transmission gear are sequentially connected with the threaded column in a threaded manner, the main transmission gear comprises an upper gear and a lower gear, the thin elastic body is sleeved on the threaded column and is arranged between the upper gear and the lower gear, the upper gear and the lower gear are in threaded connection with the threaded column and form a staggered state, so that the gear transmission gap is reduced when the main transmission gear and the driven gear are meshed, and high-precision corner measurement is realized.
In an embodiment of the present invention, the anti-backlash mechanism further includes a lock nut disposed above the main transmission gear and screwed to the screw post for press-locking the upper gear and the lower gear of the main transmission gear.
In an embodiment of the invention, the rotation angle measurement module includes a sensor group and a magnetic group corresponding to the sensor group, the sensor group includes a plurality of hall sensors, the hall sensors are disposed on the PCB substrate, the magnetic group includes a plurality of magnetic poles, the magnetic poles are in one-to-one correspondence with the positions of the hall sensors, and the magnetic poles are disposed at the tail ends of the threaded posts.
In an embodiment of the present invention, the sensor group includes four hall sensors, the magnetic group includes four magnetic poles, the hall sensors are disposed opposite to the corresponding magnetic poles, each of the hall sensors detects an absolute position of the corresponding magnetic pole, and the rotation angle measurement module outputs absolute position encoding information of the rotation angle based on four sets of data calculation.
In an embodiment of the invention, the magnetic group further includes a plurality of magnetic pole bases, and the magnetic poles are disposed in the corresponding magnetic pole bases.
In one embodiment of the present invention, the multi-stage gear system is a three-stage gear system, each stage having a gear ratio of 16.
In an embodiment of the present invention, the driven gears are spur gears.
In one embodiment of the present invention, the thin elastomer is of a wave-like structure and is made of a flexible ABS plastic material.
In an embodiment of the present invention, the multi-turn absolute value magnetic encoder further includes an encoder housing including an upper housing and a lower housing adapted to the upper housing, the PCB substrate is fixedly disposed on the upper housing, and the rotation angle measurement module and the multi-stage gear system are disposed in a receiving groove defined by the upper housing and the lower housing.
The invention also provides an assembling method of the multi-turn absolute value magnetic encoder, which comprises the following steps:
(A) Assembling a multi-stage gear transmission system comprising the steps of: the driven gear is arranged on the threaded column and is fixedly connected with the threaded column in a threaded locking mode; sequentially installing a lower gear, a thin elastic body and an upper gear into the threaded column; loading a lock nut into the threaded column, and compressing the upper gear and the lower gear until the thin elastic body is deformed, so that the upper gear and the lower gear are relatively fixed and are in a staggered tooth arrangement state;
(B) The corner measuring module is arranged on a PCB substrate, and comprises the following steps: the Hall sensor and the magnetic poles of the corner measuring module are arranged on the PCB substrate in a one-to-one correspondence mode; and
(C) And loading the assembled multi-stage gear system into a lower shell of the encoder shell to form a lower shell module, fixedly mounting the assembled corner measuring module and the PCB substrate on an upper shell of the encoder shell to form an upper shell module, and finally fixedly filling glue into the assembled upper shell module and the lower shell module to form the multi-turn absolute value magnetic encoder.
The invention has the following advantages:
(1) The multi-turn absolute value magnetic encoder adopts mechanical high-precision gear anti-backlash transmission, does not need high-precision installation, has unique random absolute position code, is not influenced by electricity and software, does not need an additional power supply system, is not influenced by system outage, can realize high-precision measurement of a corner, and has the advantages of high reliability and high stability.
(2) The multi-turn absolute value magnetic encoder adopts the thread clearance eliminating mechanism to eliminate gear transmission clearance, does not need excessive components, has a convenient and simple integral structure, can effectively reduce transmission clearance, and is beneficial to improving the corner measurement precision; and the gear has strong interchangeability, convenient maintenance and low cost.
(3) The multi-turn absolute value magnetic encoder utilizes the magnetic principle, has the core components of magnetic poles and Hall sensors, has high-speed rotation and strong vibration resistance, can be suitable for use in severe environments, and has wide applicability.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 2 is a schematic diagram showing an internal structure of the multi-turn absolute value magnetic encoder according to a preferred embodiment of the present invention.
Fig. 3 is a partial structural diagram of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 4 is a schematic cross-sectional view showing a partial structure of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 5 is a schematic structural view of a thin elastic body of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention, which illustrates a force direction of the thin elastic body at the time of installation.
Fig. 6 is a schematic structural view of a PCB substrate of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 7 is a schematic structural view of an upper case of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 8 is a schematic cross-sectional view of an upper case of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 9 is a schematic structural view of a lower case of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Fig. 10 is a schematic cross-sectional view of a lower housing of the multi-turn absolute value encoder according to the above preferred embodiment of the present invention.
Reference numerals illustrate: a multi-turn absolute value encoder 100; a PCB substrate 10; a positioning hole 101; a rotation angle measurement module 20; a sensor group 21; a hall sensor 211; a magnetic group 22; a magnetic pole 221; a pole piece 222; a multi-stage gear train 30; a main transmission gear 31; an upper gear 311; a lower gear 312; a driven gear 32; an anti-backlash mechanism 33; a threaded post 331; a thin elastic body 332; a lock nut 333; a bearing 35; an encoder housing 40; an upper case 41; a positioning column 411; an opening 4111; conical cap 4112; a trace hole 412; a lower housing 42; bearing mounting hole 421, fitting hole 422, lower case spigot 423; and a motor 200.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "vertical," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 10, a specific structure of a multi-turn absolute value encoder 100 according to a preferred embodiment of the present invention is illustrated. As shown in fig. 1 to 4, the multi-turn absolute value encoder 100 is adapted to be fixedly connected to a motor 200, and includes a PCB substrate 10, a rotation angle measuring module 20 disposed on the PCB substrate 10, and a multi-stage gear system 30 connected to the rotation angle measuring module 20; the rotation angle measurement module 20 is configured to measure an absolute position of a rotation angle, that is, the rotation angle measurement module 20 is configured to measure rotation angles of gear transmission systems at all levels of the multi-level gear transmission system 30, and calculate rotation angles of the motor 200 based on rotation angles of the gear transmission systems at all levels of the multi-level gear transmission system 30; each stage of gear transmission system in the multistage gear transmission system 30 comprises a main transmission gear 31, a driven gear 32 and an anti-backlash mechanism 33 connected between the main transmission gear 31 and the driven gear 32, the anti-backlash mechanism 33 comprises a threaded column 331 and a thin elastic body 332, the tail end of the threaded column 331 is connected with the rotation angle measurement module 20, the driven gear 32 and the main transmission gear 31 are sequentially connected with the threaded column 331 in a threaded manner, the main transmission gear 31 comprises an upper gear 311 and a lower gear 312, the thin elastic body 332 is sleeved on the threaded column 331 and is arranged between the upper gear 311 and the lower gear 312, and the upper gear 311 and the lower gear 312 are in threaded connection with the threaded column 331 and form a staggered state, so that the gear transmission clearance is reduced when the main transmission gear 31 and the driven gear 32 are meshed, and the rotation angle of the motor 200 is measured with high precision.
It should be understood that the rotation angle detected by the rotation angle measuring module 20 is the rotation angle of the rotation shaft.
It should be noted that, as shown in fig. 1, the multi-turn absolute value magnetic encoder further includes an encoder housing 40, the encoder housing 40 includes an upper housing 41 and a lower housing 42 adapted to the upper housing 41, the PCB substrate 10 is fixedly disposed on the upper housing 41, and the rotation angle measuring module 20 and the multi-stage gear system 30 are disposed in a receiving slot defined by the upper housing 41 and the lower housing 42.
It should be noted that, as shown in fig. 1 and 2, the multi-turn absolute value encoder 100 is disposed at the rear end of the motor 200, and in particular, the encoder housing 40 is fixedly connected with the casing of the motor 200.
It can be appreciated that the multi-turn absolute value encoder 100 adopts mechanical gear transmission and is purely mechanical position encoding, so that the multi-turn absolute value encoder is not affected by electric and software problems, and can realize absolute uniqueness of any position encoding; and no external power supply is required to be arranged, the influence of system outage is avoided, the coded data cannot be lost under the condition of long-time outage or no work, and the high stability and the high reliability are realized.
It will be further appreciated that the gear transmission systems of the multiple gear transmission system 30 are provided with the anti-backlash mechanism 33, specifically, the staggered arrangement between the upper gear 311 and the lower gear 312 is realized by screwing the upper gear 311 and the lower gear 312 of the main transmission gear 31 to the threaded post 331, so that the gear transmission clearance can be effectively compensated during gear transmission, thereby being beneficial to realizing high-precision measurement of the rotation angle. In other words, the anti-backlash mechanism 33 is a threaded anti-backlash mechanism 33, which can effectively reduce the gear transmission clearance when the gears are engaged, thereby realizing high-precision measurement of the rotation angle.
Further, the multi-stage gear transmission system 30 further includes a lock nut 333, where the lock nut 333 is disposed above the main transmission gear 31 and is screwed to the threaded post 331, so as to tightly lock the upper gear 311 and the lower gear 312 of the main transmission gear 31.
Specifically, when the multi-stage gear transmission system 30 is assembled, the driven gear 32 and the main transmission gear 31 are sequentially installed in the threaded post 331, wherein the thin elastic body 332 is disposed between the upper gear 311 and the lower gear 312 of the main transmission gear 31, and the teeth of the upper gear 311 and the lower gear 312 are staggered by a small angle to compensate for transmission clearance, and finally the lock nut 333 is screwed to tightly lock the upper gear 311 and the lower gear 312, and the lock nut 333 compresses the upper gear 311 and the lower gear 312, so that the thin elastic body 332 is deformed to generate a resilience force, which can improve friction force among the lock nut 333, the upper gear 311 and the lower gear 312, and has an effective anti-loose effect. Finally, the upper gear 311 and the lower gear 312 are in a staggered state, and the thin elastic body 332 between the upper gear 311 and the lower gear 312 is in a deformed state. It can be understood that the gap between the upper gear 311 and the lower gear 312 of the main driving gear 31 can be adjusted according to the actual assembly condition to meet the requirement of the driving precision, and the locking nut 333 is locked after the adjustment of the driving gap is completed.
In particular, as shown in FIG. 5, the thin elastomer 332 is of a wave-like structure and is made of a flexible ABS plastic material. When the thin elastic body 332 is stressed, stress points on two sides of the thin elastic body 332 are uniformly distributed and not located at the same position, and stress points on two sides of the thin elastic body 332 are symmetrically and uniformly distributed and staggered, so that a larger deformation force can be provided, that is, compared with a common spring washer, the wavy structure of the thin elastic body 332 has higher rigidity, deformation consistency and stress uniformity.
In this way, the multi-turn absolute value magnetic encoder of the present invention employs the thin elastic body 332 of the wave structure, which is advantageous in ensuring the stability of the overall structure, thereby being advantageous in ensuring the anti-vibration capability and the high precision of the rotation angle measurement of the multi-turn absolute value magnetic encoder.
It is worth mentioning that ABS plastic (Acrylonitrile Butadiene STYRENE PLASTIC) is a terpolymer of three monomers, namely acrylonitrile (a), butadiene (B) and styrene (S), so that ABS plastic has the common properties of three components, namely, acrylonitrile (a) makes it resistant to chemical corrosion and heat and has a certain surface hardness, butadiene (B) makes it have high elasticity and toughness, and styrene (S) makes it have the processing and forming properties of thermoplastic plastics and improves electrical properties.
It will be appreciated that the gear sets of the gear trains of the multistage gear train 30 are double gears, i.e. the threaded post 331 is connected with the driving gear 31 and the driven gear 32 at the same time. Specifically, the multi-stage gear system 30 is assembled in the following manner: gluing the lower gear 312 of the main transmission gear 31 on the threaded post 331; the thin elastic body 332 is sleeved in, the upper gear 311 is sleeved in, the locking nut 333 is screwed in along the thread direction of the thread column 331, the staggered tooth amount between the upper gear 311 and the lower gear 312 is adjusted before locking, and the upper gear 311 and the lower gear 312 can be normally meshed with the driven gear 32; the thin elastic body 332 is then compressed by tightening the lock nut 333 to generate the locking friction. Finally, the driven gear 32 and the related bearing 35 are glued, and at this time, the main transmission gear 31, the thread anti-backlash mechanism 33, the driven gear 32 and the related bearing 35 form a duplex gear rotating shaft, which can be integrally installed in the encoder housing 40 of the multi-turn absolute value magnetic encoder as a module.
It should be noted that, the driven gear 32 is a spur gear, engaged with the main driving gear 31, and by the staggered teeth arrangement of the upper gear 311 and the lower gear 312 of the main driving gear 31, the driven gear 32 and the main driving gear 31 realize a gapless transmission, so as to ensure the rotation angle measurement precision of the multi-turn absolute value magnetic encoder.
In particular, in the preferred embodiment of the present invention, the multi-stage gear system 30 is a three-stage gear system, each stage has a gear ratio of 16, and each stage has a two-stage reduction gear, so that 2 12 turns of counts (i.e. 4096 turns) are finally achieved, but the present invention is not limited thereto, and the multi-stage reduction can be designed and the different turns of counts can be achieved according to different sizes and different usage requirements, that is, in some embodiments of the present invention, the multi-turn absolute magnetic encoder can also employ more than three stages of multi-stage gear system 30 according to practical requirements, which is not limited thereto.
It should be noted that in the preferred embodiment of the present invention, the multi-stage gear transmission system 30 mainly adopts 3 gears, the number of teeth is 15, 30 and 60, the gear modules are the same, and the gears with the same number of teeth and the same structure can be interchanged arbitrarily, which is beneficial to reducing the production cost and the assembly difficulty.
In addition, it should be noted that the anti-backlash mechanism 33 of the multi-stage gear system 30 is not limited to the sensor field, and is also applicable to various application scenarios with small load and small space, and the present invention is not limited thereto.
Further, the rotation angle measuring module 20 includes a sensor group 21 and a magnetic group 22 corresponding to the position of the sensor group 21, the sensor group 21 includes a plurality of hall sensors 211, the hall sensors 211 are disposed on the PCB substrate 10, the magnetic group 22 includes a plurality of magnetic poles 221, the magnetic poles 221 correspond to the positions of the hall sensors 211 one by one, and the magnetic poles 221 are disposed at the end of the threaded post 331.
It should be noted that the magnetic assembly 22 further includes a plurality of magnetic pole seats 222, and the magnetic poles 221 are disposed in the corresponding magnetic pole seats 222. In this preferred embodiment of the invention, the pole 221 may be adhesively secured within the pole mount 222.
Furthermore, it should be noted that the magnetic pole seat 222 is connected to one end of the corresponding threaded post 331, and the bearing 35 is mounted on the other end of the threaded post 331.
Specifically, in this preferred embodiment of the present invention, the sensor group 21 includes four hall sensors 211, the magnetic group 22 includes four magnetic poles 221, the hall sensors 211 are respectively disposed opposite to the corresponding magnetic poles 221, as shown in fig. 6, each hall sensor 211 detects an absolute position of the corresponding magnetic pole 221, and the rotation angle measurement module 20 outputs absolute position-encoded information of the rotation angle based on four sets of data calculations.
More specifically, four hall sensors 211 are disposed on the PCB substrate 10, small magnets magnetized in a radial direction are mounted at the rear exiting shaft of the motor 200 and the end of the screw post 331 of the three-stage gear transmission system, that is, the magnetic poles 221 are mounted, the positions of the magnetic poles 221 are in one-to-one correspondence with the hall sensors 211, and the rotation angle of the magnetic poles 221 is measured by the hall sensors 211, so that the rotation angle of the motor 200 is calculated based on the obtained rotation angle of the magnetic poles 221.
Further, as shown in fig. 7 to 10, the specific structure of the encoder housing 40 of the multi-turn absolute value encoder 100 is elucidated. As shown in fig. 7 and 8, the upper case 41 of the encoder case 40 is provided with two positioning posts 411 and routing holes 412, the routing holes 412 are used for routing, the PCB substrate 10 is provided with two corresponding positioning holes 101, and the PCB substrate 10 and the upper case 41 are fixedly connected by being snapped between the positioning posts 411 and the positioning holes 101, that is, the PCB substrate 10 is mounted on the upper case 41 in a snap-fit manner. Specifically, the positioning column 411 is provided with an opening 4111, the end of the positioning column is in a conical cap structure, the upper housing 41 is pressed against the resistance of the conical cap 4112 in a manner that the positioning column 411 is aligned with the positioning hole 101 of the PCB substrate 10, and the conical cap 4112 can prevent the PCB substrate 10 from loosening and falling out after the positioning column 411 is completely pressed into the PCB substrate 10. The positioning posts 411 of the upper case 41 are used for fixing the PCB substrate 10 on one hand and positioning the PCB substrate 10 on the other hand, preventing the hall sensor 211 from deviating from the magnetic pole 221, so that the calculation is more accurate.
As shown in fig. 9 and 10, the lower case 42 of the encoder case 40 is provided with a bearing mounting hole 421, a fitting hole 422, and a lower case spigot 423, the lower case 42 mirrors the fitting hole 422 being mounted at the rear end of the motor 200, the bearing mounting hole 421 being for mounting the bearing 35, and the routing hole 412 being for routing. When the multi-turn absolute value encoder 100 is mounted on the motor 200, the lower housing 42 is firstly mounted on the rear end of the motor 200, the multi-stage gear assembly is secondly mounted on the lower housing 42, and finally the upper housing 41 module formed by the PCB substrate 10 and the upper housing 41 is connected with the multi-stage gear assembly and the lower housing 42 to form a lower housing 42 module, such as glue-filling and fixing, so as to form an encoder integral body capable of being matched with the motor 200 for use.
It will be appreciated that in another aspect the invention also provides a method of assembling a multi-turn absolute value magnetic encoder, comprising the steps of:
(A) The assembly of the multi-stage gear system 30 comprises the steps of: the driven gear 32 is arranged on the threaded column 331 and is fixedly connected to the threaded column 331 in a threaded locking mode; sequentially assembling the lower gear 312, the thin elastic body 332, and the upper gear 311 into the screw column 331; a lock nut 333 is installed in the threaded column 331, and presses the upper gear 311 and the lower gear 312 until the thin elastic body 332 is deformed, so that the upper gear 311 and the lower gear 312 are relatively fixed and arranged in staggered teeth;
(B) The corner measuring module 20 is mounted on the PCB substrate 10, and specifically includes the steps of: the hall sensor 211 and the magnetic poles 221 of the rotation angle measuring module 20 are installed on the PCB substrate 10 in a position one-to-one correspondence manner; and
(C) The assembled multi-stage gear system is assembled into a lower housing 42 of the encoder housing 40 to form a lower housing 42 module, the assembled rotation angle measuring module 20 and the PCB substrate 10 are fixedly mounted on an upper housing 41 of the encoder housing 40 to form an upper housing 41 module, and finally the assembled upper housing 41 module and the lower housing 42 module are fixedly connected through glue filling to form the multi-turn absolute value magnetic encoder.
It can be understood that the multi-turn absolute value magnetic encoder with the gear backlash eliminating mechanism 33 provided by the invention can be applied to various application fields such as machine tools, robots, elevators and the like, is used as an angle measuring sensor, integrates a gear set backlash eliminating transmission system and realizes low-cost high-precision measurement. In addition, the gears in the multi-stage gear transmission system 30 of the multi-turn absolute value magnetic encoder can be formed through molding injection, so that the consistency is good, the interchangeability is high, and the design cost and the maintenance cost are greatly reduced. The main transmission gear 31 is of a split type design, and an adjustable transmission clearance mechanism is realized by arranging staggered teeth of an upper gear and a lower gear and matching the thin elastic body 332 and the locking nut 333. In addition, the thin elastic body 332 is configured in a wave structure, so that high rigidity, large deformation and uniform stress can be realized, the space occupied by the gear thread backlash eliminating mechanism 33 is small, and the device is suitable for application occasions with small load and small space, and is not limited to the field of sensors.
In general, the multi-turn absolute value magnetic encoder adopts gear transmission and purely mechanical position encoding, is not influenced by electric and software problems, and can realize absolute uniqueness of any position encoding; the external power supply is not required to be arranged, the influence of system power failure is avoided, and long-time power failure or non-working data cannot be lost, so that the system has high stability and high reliability; in addition, the gear transmission also adopts a thread clearance eliminating mechanism 33, so that transmission clearance can be effectively reduced, and high-precision measurement of the magnetic encoder is realized.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples only represent preferred embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The multi-turn absolute value magnetic encoder is suitable for being fixedly connected with a motor and is characterized by comprising a PCB substrate, a corner measuring module arranged on the PCB substrate and a multi-stage gear transmission system connected with the corner measuring module; the rotation angle measuring module is used for detecting rotation angles of all levels of gear transmission systems of the multi-level gear transmission system and calculating rotation angles of the motor based on the rotation angles of all levels of gear transmission systems of the multi-level gear transmission system; each stage of gear transmission system in the multistage gear transmission system comprises a main transmission gear, a driven gear and a gap eliminating mechanism for connecting the main transmission gear and the driven gear, wherein the gap eliminating mechanism comprises a threaded column and a thin elastic body, the tail ends of rear output shafts of the threaded column and the motor are connected with the corner measuring module, the driven gear and the main transmission gear are sequentially connected with the threaded column in a threaded manner, the main transmission gear comprises an upper gear and a lower gear, the thin elastic body is sleeved on the threaded column and is arranged between the upper gear and the lower gear, and the upper gear and the lower gear are in threaded connection with the threaded column and form a staggered state so as to reduce gear transmission gaps when the main transmission gear and the driven gear are meshed, and therefore high-precision corner measurement is achieved; the multi-stage gear transmission system is a three-stage gear transmission system, and each stage of transmission ratio is 16; the driven gears are cylindrical spur gears; the thin elastic body is of a wave-shaped structure and is made of flexible ABS plastic materials; the multi-turn absolute value magnetic encoder further comprises an encoder housing, wherein the encoder housing comprises an upper housing and a lower housing matched with the upper housing, the PCB substrate is fixedly arranged in the upper housing, and the rotation angle measuring module and the multi-stage gear transmission system are arranged in a containing groove formed by the upper housing and the lower housing.
2. The multi-turn absolute value magnetic encoder of claim 1, wherein the anti-backlash mechanism further comprises a lock nut disposed above the main drive gear and threadably coupled to the threaded post for compression locking the upper gear and the lower gear of the main drive gear.
3. The multi-turn absolute value magnetic encoder of claim 2, wherein the rotation angle measurement module comprises a sensor group and a magnetic group corresponding to the sensor group, the sensor group comprises a plurality of hall sensors, the hall sensors are arranged on the PCB substrate, the magnetic group comprises a plurality of magnetic poles, the magnetic poles are in one-to-one correspondence with the positions of the hall sensors, and the magnetic poles are arranged at the tail ends of the threaded posts.
4. A multi-turn absolute value magnetic encoder according to claim 3 wherein said sensor group comprises four of said hall sensors, said magnetic group comprises four of said magnetic poles, said hall sensors are disposed opposite to the corresponding ones of said magnetic poles, respectively, each of said hall sensors detects an absolute position of the corresponding one of said magnetic poles, and said rotation angle measurement module outputs absolute position-encoded information of a rotation angle based on four sets of data calculations.
5. A multi-turn absolute value magnetic encoder according to claim 3 wherein the magnetic group further comprises a plurality of pole pieces, the poles being disposed within corresponding ones of the pole pieces.
6. A method of assembling a multi-turn absolute value magnetic encoder, the method being based on a multi-turn absolute value magnetic encoder according to claim 1, the method comprising the steps of:
(A) Assembling a multi-stage gear transmission system comprising the steps of: the driven gear is arranged on the threaded column and is fixedly connected with the threaded column in a threaded locking mode; sequentially installing a lower gear, a thin elastic body and an upper gear into the threaded column; loading a lock nut into the threaded column, and compressing the upper gear and the lower gear until the thin elastic body is deformed, so that the upper gear and the lower gear are relatively fixed and are in a staggered tooth arrangement state;
(B) The corner measuring module is arranged on a PCB substrate, and comprises the following steps: the Hall sensor and the magnetic poles of the corner measuring module are arranged on the PCB substrate in a one-to-one correspondence mode; and
(C) And loading the assembled multi-stage gear system into a lower shell of the encoder shell to form a lower shell module, fixedly mounting the assembled corner measuring module and the PCB substrate on an upper shell of the encoder shell to form an upper shell module, and finally fixedly filling glue into the assembled upper shell module and the lower shell module to form the multi-turn absolute value magnetic encoder.
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