CN1997877B - 编码器*** - Google Patents

编码器*** Download PDF

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CN1997877B
CN1997877B CN2005800183938A CN200580018393A CN1997877B CN 1997877 B CN1997877 B CN 1997877B CN 2005800183938 A CN2005800183938 A CN 2005800183938A CN 200580018393 A CN200580018393 A CN 200580018393A CN 1997877 B CN1997877 B CN 1997877B
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encoder
encoder strip
read
read head
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CN1997877A (zh
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迈克尔·D.·斯奈德
科恩·A.·吉斯克斯
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Universal Instruments Corp
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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
    • 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
    • G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
    • 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
    • G01D11/10—Elements for damping the movement of parts
    • 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
    • G01D21/00—Measuring or testing not otherwise provided for
    • 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
    • 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
    • G01D5/24428—Error prevention
    • G01D5/24433—Error prevention by mechanical means
    • G01D5/24442—Error prevention by mechanical means by mounting means
    • 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
    • G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
    • 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
    • G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34746—Linear encoders
    • G01D5/34753—Carriages; Driving or coupling means

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Abstract

一种用于准确地读取编码器***中的编码器带的结构和相关的方法。编码器***包括：读数头、读数头附近的承座结构、以及编码器带。编码器带适用于被读数头读取。承座结构适用于当编码器带被读数头读取时局部地支撑编码器带，并且局部地使得编码器带的振动减弱。

Description

编码器***
技术领域
本发明涉及用于定位***中的编码器***。
背景技术
目前的用于定位***的编码器***通常使用精密刻度(precision scale)和读数装置。然而，目前的编码器***通常非常昂贵，尤其是当具有很长的行程轴线时。另外，它们对于读数装置和精密线纹尺之间的位置不对准非常敏感，这不仅使得安装过程消耗非常多的劳动，而且要求高精度加工的安装表面，该***安装到所述安装表面。因此需要一种廉价的、精确的并且容易安装的编码器***用于与定位***一起使用。
发明内容
本发明提供一种编码器***，该***包括：
读数头；
位于读数头附近的承座(shoe)结构；和
编码器带，适用于被读数头读取，其中承座结构适用于当编码器带被读数头读取时局部地支撑编码器带，并且局部地使得编码器带的振动减弱。
本发明提供一种方法，该方法包括：
提供编码器***，所述编码器***包括读数头、读数头附近的承座结构以及编码器带；
利用读数头读取编码器带；
当编码器带被读数头读取时，利用承座结构局部支撑编码器带；和
当编码器带被读数头读取时，利用承座结构局部地使得编码器带的振动减弱。
附图说明
图1示出了根据本发明的实施例的安装在定位***内的编码器***的透视图。
图2A示出了根据本发明的实施例的图1的编码器***的透视图。
图2B示出了根据本发明的实施例的图2A的编码器***的可替换实施例。
图3A示出了根据本发明的实施例的图2A的编码器带的透视图。
图3B示出了根据本发明的实施例的图2B的编码器带的透视图。
图4示出了根据本发明的实施例的图1-3的读数头和承座的透视图。
图5示出了根据本发明的实施例的图1的编码器***的顶部横截面视图。
图6示出了根据本发明的实施例的图4的编码器结构的第一种变型。
图7示出了根据本发明的实施例的图6的编码器结构的一种变型。
图8示出了根据本发明的实施例的图7的编码器结构的一种变型。
图9示出了根据本发明的实施例的图4的编码器结构的第二种变型。
图10示出了根据本发明的实施例的图9的编码器结构的一种变型。
具体实施方式
图1示出了根据本发明的实施例的安装在定位***110内的编码器***100的透视图。编码器***控制定位***110的空间位置(例如在X、Y或Z平面中)。编码器***包括编码器带114、读数头116和承座118。读数头116和承座118结合形成编码器结构119。编码器带114的端部120固定在读数头116和承座118的行程轴线112的任一侧(任一端)上。编码器带114在其上具有线条(例如见图2A中的线条132)、特征、标志或者孔类型的特征(例如开口、洞、槽等)，从而可以通过读数头116读取。编码器带114可以是本领域中的普通技术人员所公知的任何编码器带，包括具有线条、标志或者特征的透明塑料编码器带(如图2-3中所示)、具有孔类型特征(例如开口、洞、槽等)的不透明编码器带(例如不透光的或者反射的)等。当使用具有线条、标志或者特征的透明编码器带时，读数头116可包括光源和通常的专用集成电路(ASIC)读数装置，所述光源指向编码器带114的一侧，读数装置指向编码器带114的另一侧(例如见图4)。当使用不透明的具有孔类型特征的编码器带时，读数头116通常包括光源和ASIC，光源和ASIC都指向编码器带114的相同侧。不透明的编码器带可包括金属等。当读数头116和编码器带114相对彼此移动时，编码器***100的读数头116读取编码器带的线条、特征、标志或者孔类型的特征。承座118连结到读数头116，并且在沿着编码器带114的局部区域134处轻轻接触编码器带114(即支撑编码器带114)，在区域134处，读数头116进行读数。另外，承座118使得从定位***110或者外部源头传递给编码器带114并被编码器带114的长的长度(例如大于2英尺)加剧的振动减弱。术语“减弱”(以及术语“减弱”的所有派生词例如被减弱、减弱等)此处并且包括在权利要求中被定义为编码器带114的振幅(即振动)的减小(即减弱这样的振动，该振动使得读数头116处的编码器带114移动靠近或者远离读数头116内的光源和ASIC)。编码器带114的未被减弱的振动在利用读数头116读取编码器带114上的标志时会产生问题，导致漏失计数(lost count)或者定位***110的位置的不准确的确定。承座118允许编码器带114在读数头116内的光源和ASIC之间保持恒定的距离。如果使用塑料的编码器带(即编码器带114)，那么塑料的编码器带114可以接合到金属条128(见图2B)。金属条128起着稳定器的作用，并且提供了更坚固的装置用于支撑在定位***110内，并且极大地消除了由于吸收水分造成的塑料编码器带的蠕变或者长度变化的效果。金属编码器带(即编码器带114)的另外的优点或者将金属条128增设到塑料编码器带的另外的优点在于金属条128有助于提供地线(ground path)用于静电积聚(staticbuildup)。定位***110可用在取放机(pick and place machine)中。取放机可包括另外的与定位***110相同的定位***。
图2A示出了根据本发明的实施例的图1的编码器***100的透视图。图2A示出了编码器带114如何穿过读数头116，同时被承座118支撑。编码器带114在沿着编码器带114的局部区域134处轻轻接触承座118的顶面137，在所述区域134处，读数头116读取编码器带114。
图2B示出了根据本发明的实施例的图2A的编码器***100的可替换实施例。与图2A相反，图2B另外包括连接到编码器带144的金属条128。在这种情况中，金属条128在承座118的顶面137的部分122处轻轻接触承座118(见图4)。金属条128起着稳定器的作用，并且提供更坚固的装置用于将编码器带144支撑在图1的定位***110内。
图3A示出了根据本发明的实施例的图2A的编码器带114的透视图。编码器带114包括精密线条32(可替换的是，精密线条32可以是任何特征、标志或者孔类型的特征(例如开口、孔、槽等))，用于读数头16读取。编码器带114可以是本领域的普通技术人员公知的任何编码器带，包括具有线条、标志或者特征的透明的塑料编码器带(如图2-3所示)、具有孔类型特征(例如开口、孔、槽等)的不透明编码器带(例如不透光的或者反射性的)等。透明的塑料编码器带可包括MylarTM等。不透明的编码器带可包括金属等。
图3B示出了根据本发明的实施例的图2B的编码器带114的透视图。编码器带114接合到金属条128。金属条128可以由不锈钢制成。本发明不限于仅由透明塑料制成的编码器带。也可以使用金属制成的编码器带。在任一种情况中，编码器带114将具有某种类型的特征，例如精密线条或者金属带中的孔，这些特征可以通过读数头116读取。
图4示出了根据本发明的实施例的图1-3的读数头116和承座118(即编码器结构119)的透视图。可以看到读数头116中的槽124。发光二极管(LED)142安装在槽124的顶侧145上。ASIC144安装在槽124的底侧146上。LED 142和ASIC 144的位置可以颠倒，或者LED 142和ASIC 144可以在同一侧上(即都在侧面145上或者都在侧面146上)。编码器带114穿过槽124，允许来自LED142的光穿过编码器带114，从而ASIC 144可以读取编码器带114上标出的精密线条。承座118的顶面137的一部分122指示出在承座118上编码器带114或者金属条128轻轻地接触承座118的位置。本发明不限于这种结构的读数头116。对于读数头116存在其它可能的结构。例如，在编码器带不透明或者不具有孔隙的情况中，光源可以安装在与ASIC相同的侧面上，以照明编码器带114上的特征。虽然本设计使用光滑的顶面137，顶面137轻轻地在编码器带114和/或金属条128上摩擦，但是可以使用其它装置来接触编码器带114，这些装置包括但不限于：另外的第二承座(见图6)，一个或多个滚柱(见图7的滚柱130或者图8的滚柱130和147)，非接触的但是具有密合间隙的设计例如空气轴承(见图9和图10的空气轴承)，。
图5示出了根据本发明的实施例的图1的编码器***100的顶部横截面视图。虚线表示对于编码器带114的恒定的优选平面132，以通过读数头116准确读取。承座118将编码器带114在沿着编码器带114的局部区域134处保持在恒定的优选平面132中，在区域134处，读数头116读取编码器带114，从而支撑编码器带114并且使得从定位***110或者任何外部源头传递给编码器带114的任何振动减弱。
图6示出了图4的编码器结构119的变型，示出了根据本发明的实施例的编码器结构121。与图4相反，图6的编码器结构121包括另外的承座150。承座150在结构上类似于承座118。承座150与承座118结合从而局部支撑编码器带114(即在承座118和150之间)，并且使得传递到编码器带114的任何振动减弱。支撑和振动减弱局部地发生在沿着编码器带114的局部区域134(见图2)处，在区域134处，读数头116进行读数。
图7示出了图6的编码器结构121的变型，示出了根据本发明的实施例的编码器结构123。与图6相反，图7的编码器结构123包括承座163，代替图6的承座150。承座163包括用于接触编码器带114的滚柱轴承130。承座163与承座118结合从而局部支撑编码器带114(即在承座118和163之间)，并且使得传递到编码器带114的任何振动减弱。支撑和振动减弱局部地发生在沿着编码器带114的局部区域134(见图2)处，在区域134处，读数头116进行读数。
图8示出了图7的编码器结构123的变型，示出了根据本发明的实施例的编码器结构127。与图7相反，图8的编码器结构127包括承座166，代替图7的承座118。承座166包括用于接触编码器带114的滚柱轴承147。包括滚柱轴承130的承座163与包括滚柱轴承147的承座166结合从而局部地支撑编码器带114(即在承座118和163之间)，并且使得传递到编码器带114的任何振动减弱。支撑和振动减弱局部地发生在沿着编码器带114的局部区域134(见图2)处，在区域134处，读数头116进行读数。
图9示出了图4的编码器结构119的变型，示出了根据本发明的实施例的编码器结构129。与图4相反，图9的编码器结构129包括连接到承座160的空气轴承133。空气轴承133适用于发出轻微的空气流(可以使用其它气体来代替空气)，以局部地支撑编码器带并且使得传递到编码器带114的任何振动减弱。支撑和振动减弱局部地发生在沿着编码器带114的局部区域134(见图2)处，在局部区域134处，读数头116进行读数。
图10示出了图9的编码器结构129的变型，示出了根据本发明的实施例的编码器结构134。与图9相反，图10的编码器结构134包括连结到另外的承座139的另外的空气轴承137。空气轴承137适用于发出轻微的空气流(可以使用其它气体来代替空气)，从而与空气轴承133结合以局部地支撑编码器带114(即在空气轴承137和133之间)，并且使得传递到编码器带114的任何振动减弱。支撑和振动减弱局部地发生在沿着编码器带114的局部区域134(见图2)处，在区域134处，读数头116进行读数。
虽然此处为了说明的目的描述了本发明的实施例，但是对于本领域的普通技术人员来说，显然存在许多变型和修改。因此，所附的权利要求用于覆盖所有这些落在本发明的实质和范围内的变型和修改。

Claims (18)

1.一种编码器***，包括：
读数头，具有行程轴线；
位于读数头附近的承座结构；和
编码器带，定位成在局部区域处被读数头读取，其中编码器带仅固定在第一端和第二端处，所述第一端和第二端位于读数头的行程轴线的任一端处，其中，当编码器带被读数头读取时，编码器带仅在所述局部区域处由承座结构局部地支撑，并且其中当编码器带被读数头读取时，编码器带的振动仅在所述局部区域处由承座结构局部地减弱。
2.如权利要求1所述的编码器***，其特征在于，所述振动减弱包括：当编码器带被读数头读取时，将编码器带局部地保持在恒定的平面中。
3.如权利要求1所述的编码器***，其特征在于，编码器***适用于控制至少一个定位***的空间位置。
4.如权利要求3所述的编码器***，其特征在于，所述至少一个定位***安装在取放机中。
5.如权利要求1所述的编码器***，其特征在于，所述承座结构包括至少一个光滑的凸形表面，以使得当编码器带被读数头读取时编码器带的振动减弱。
6.如权利要求1所述的编码器***，其特征在于，所述承座结构包括至少一个滚柱轴承，以使得当编码器带被读数头读取时编码器带的振动减弱。
7.如权利要求1所述的编码器***，其特征在于，所述承座结构包括至少一个空气轴承，以使得当编码器带被读数头读取时编码器带的振动减弱。
8.如权利要求1所述的编码器***，其特征在于，编码器带至少2英尺长。
9.如权利要求1所述的编码器***，其特征在于，编码器带接合到金属条，金属条适用于起着对于编码器带的加固件的作用。
10.一种局部地减弱编码器带的振动的方法，包括：
提供编码器***，所述编码器***包括读数头、读数头附近的承座结构以及编码器带，其中读数头具有行程轴线；
仅在第一端和第二端处固定编码器带，所述第一端和第二端位于读数头的行程轴线的任一端处；
利用读数头在局部区域处读取编码器带；
当编码器带被读数头读取时，利用承座结构在所述局部区域处仅局部地支撑编码器带；和
当编码器带被读数头读取时，利用承座结构在所述局部区域处仅局部地使得编码器带的振动减弱。
11.如权利要求10所述的方法，其特征在于，所述振动减弱包括当编码器带被读数头读取时将编码器带局部地保持在恒定的平面中。
12.如权利要求10所述的方法，其特征在于，还包括通过编码器***控制至少一个定位***的空间位置。
13.如权利要求12所述的方法，其特征在于，还包括：
提供取放机；和
通过取放机使用所述至少一个定位***。
14.如权利要求10所述的方法，其特征在于，所述承座结构包括至少一个光滑的凸形表面，以使得当编码器带被读数头读取时编码器带的振动局部地减弱。
15.如权利要求10所述的方法，其特征在于，所述承座结构包括至少一个滚柱轴承，以使得当编码器带被读数头读取时编码器带的振动局部地减弱。
16.如权利要求10所述的方法，其特征在于，所述承座结构包括至少一个空气轴承，以使得当编码器带被读数头读取时编码器带的振动局部地减弱。
17.如权利要求10所述的方法，其特征在于，所述编码器带至少比2英尺长。
18.如权利要求10所述的方法，其特征在于，编码器带接合到金属条，金属条适用于对编码器带起着加固件的作用。
CN2005800183938A 2004-05-06 2005-04-13 编码器*** Expired - Fee Related CN1997877B (zh)

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