CN203881354U - Combined type encoder - Google Patents
Combined type encoder Download PDFInfo
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- CN203881354U CN203881354U CN201420229105.XU CN201420229105U CN203881354U CN 203881354 U CN203881354 U CN 203881354U CN 201420229105 U CN201420229105 U CN 201420229105U CN 203881354 U CN203881354 U CN 203881354U
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- 230000003287 optical effect Effects 0.000 claims abstract description 21
- 230000006698 induction Effects 0.000 claims abstract description 16
- 150000001875 compounds Chemical class 0.000 claims description 27
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005530 etching Methods 0.000 abstract 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 7
- 230000001186 cumulative effect Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model provides a combined type encoder comprising a magneto-electric encoder. The magneto-electric encoder comprises a rotating shaft, a pedestal, a magnetic body, a magnetic seat, a magnetic body induction sensor and a first circuit board, wherein the magnetic body is fixed on the magnetic body seat which is fixed on the top end of the rotating shaft, the magnetic body induction sensor is positioned above the magnetic body and is electrically connected with the first circuit board. The combined type encoder also comprises a photoelectric encoder and a wire etching optical grating. The photoelectric encoder comprises a code disc, a light source, an optical induction sensor and a second circuit board, wherein the code disc is fixed on the rotating shaft, the light source is positioned above the cod disc and is arranged on the second circuit board, the wire etching optical grating is positioned below the code disc, the optical induction sensor is positioned below the wire etching optical grating and is electrically connected with the second circuit board, and the first circuit board is electrically connected with the second circuit board. The effects of the combined type encoder are that the combined type encoder is fast in response and high in precision, and data cannot be lost when power failure occurs.
Description
Technical field
The utility model relates to a kind of scrambler, particularly a kind of compound scrambler.
Background technology
In engineering survey field, conventionally use incremental encoder or absolute type encoder to measure the parameters such as distance of the anglec of rotation of motor, speed or transmission.For incremental encoder, as shown in Figure 1, after incremental encoder energising, light source 1 produces light beam, by grating 2 and the code-disc 3 with even groove, code-disc, along with rotation axis 4 rotates, is provided with photoelectricity receiving element 5 at the code-disc back side, by exporting one group of AB two phase place pulse signal after photoelectricity receiving element and circuit conversion.
When this incremental encoder connects follow-up receiving equipment, need count and cumulative just can calculate current angle the pulse signal of output, and the cumulative angle position value of memory, so that the step-by-step counting before continuing while rotating again is below cumulative.After having a power failure, the rotation axis of scrambler rotates with measuring equipment again, and the pulse of scrambler cannot provide output again, or follow-up receiving equipment cannot to do step-by-step counting cumulative, thereby original position lose, cause the measurement skew for original zero point.After energising, not that before having a power failure, institute count the position remembered again, need to get back to original zero point and could measure after recalibration; And pulse signal is to the having relatively high expectations of electrical Interference and frequency matching, after succeeding impulse receiving equipment is vulnerable to disturb, also may exists and misread and have a larger cumulative errors.In order to solve this error, the concept of absolute type encoder has been proposed in the world.
Each position of absolute type encoder is in advance at the inner absolute coding of scrambler, and every secondary data reads can directly understand unique position output, and with last time reading and output were irrelevant, thereby while not being subject to have a power failure with counting, not being disturbed and affecting.Absolute type encoder is divided into photo-electric principle and magneto-electric principle, for the magneto-electric scrambler of magneto-electric principle, as shown in Figure 2, rotation axis 6 drives the magnet 7 on it to rotate and produces changes of magnetic field when rotating, magnet detection chip 8 detects the changes of magnetic field of magnet, thereby by the magnetic field changing, determines the absolute position of external unit.
The magnetic field being produced by the magnet of fixing with turning axle due to the position measurement of this magneto-electric scrambler determines, the acquisition of each position data is without counting accumulative total, be not subject to the impact of extraneous electrical Interference yet, therefore be absolute encoder, it has solved the existing cumulative errors of incremental encoder and has needed the irregularly calibration problem at zero point.But, the angle of this magneto-electric scrambler is understood and output, need to do magnetic-field measurement, analog to digital conversion, data counts for Distribution of Magnetic Field, on dynamic response, be not so good as optical-electricity encoder rapid, at some High Rotation Speeds, need to process the application scenario of position and speed, the such calculating process of data processing can cause the hysteresis of positional value output feedback simultaneously.In addition, the centring concentric degree that may occur when all spending and installing due to magnet material, flatness deviation, make the true measurement of magneto-electric absolute value encoder have nonlinearity erron, the groove that is not so good as optical-electricity encoder can be high by the controllable precision of process, so precision is lower.
Utility model content
The technical problems to be solved in the utility model is in order to overcome the defect that in prior art, the response of magneto-electric scrambler is slow, precision is lower, a kind of compound scrambler to be provided.
The utility model solves above-mentioned technical matters by following technical proposals:
A kind of compound scrambler, comprise a magneto-electric scrambler, this magneto-electric scrambler comprises a rotation axis, one base, one magnet, one magnet holder, one magnet induction pick-up and one first wiring board, this magnet is fixed in this magnet holder, this magnet holder is fixed on the top of this rotation axis, this magnet induction pick-up is positioned at the top of this magnet and is electrically connected to this first wiring board, its feature is, this compound scrambler also comprises an optical-electricity encoder and a ruling grating, this optical-electricity encoder comprises a code-disc, one light source, one optical sensor sensor and one second wiring board, this code-disc is fixed on this rotation axis, this light source is positioned at the top of this code-disc and is located on this second wiring board, this ruling grating is positioned at the below of this code-disc, this optical sensor sensor is positioned at the below of this ruling grating and is electrically connected to this second wiring board, this first wiring board is electrically connected to this second wiring board.
In this programme, when code-disc rotation certain displacement or angle, pass through again this ruling grating, this second wiring board can obtain the electric signal of the amplitude stability that this optical sensor sensor transmits in time, before obtaining this electric signal, without do the work such as a series of magnetic-field measurement as magneto-electric scrambler, greatly improved response speed.Especially in the occasion of some High Rotation Speeds, this compound scrambler can guarantee can not produce hysteresis delay when this electric signal of output.
In addition, the graduating accuracy on code-disc is higher, makes the precision of electric signal of this second wiring board output also higher.Because this first wiring board is electrically connected to this second wiring board, the high precision feature that therefore can rely on this code-disc to have is revised the absolute value electric signal of exporting on this first wiring board, to improve the precision of this first wiring board output absolute value signal.Being specially this magnet induction pick-up detects the changes of magnetic field of this magnet rotation generation and transmits one first electric signal to this first wiring board, this first wiring board calculates and processes this first electric signal, and compare with the electric signal of this second wiring board output, in storer by its Difference Storage on this first wiring board, the absolute value signal of the final output of this first wiring board be this first electric signal and this difference with.Thereby the precision of the absolute value signal of this first wiring board output is improved, can reaches the precision identical with code-disc.Therefore, this compound scrambler has improved the precision of original magneto-electric scrambler.
Preferably, this first wiring board comprises a processor, a storer and a power supply, and this processor is electrically connected to this storer, and this processor is also electrically connected to this power supply, this magnet induction pick-up and this second wiring board respectively.
This processor is used for the first electric signal of this magnet induction pick-up transmission to calculate and process, and the electric signal after the first electric signal after calculating and processing and the processing of this second wiring board and amplification is contrasted, and exports absolute value signal; The difference of this storer for storing this first electric signal and this electric signal, this power supply is used for making this compound scrambler to keep normal work.
Preferably, this processor is MCU (microprogram control unit), and this storer is EEPROM (electrically erasable read-only memory).This storer has the effect that power failure data is not lost, and is conducive to that this magneto-electric scrambler can also have correct difference when power down and this absolute value signal adds up.
Preferably, the incisure density of this ruling grating, width be identical with this code-disc all, the groove complete matching of the groove of this ruling grating one end and this code-disc, and the groove of the other end and the groove of this code-disc stagger completely.
Preferably, this optical sensor sensor is embedded in this base.
This optical sensor sensor can provide this optical sensor sensor a stable testing environment while being embedded in this base, can strengthen the detection sensitivity that bright and dark light that this optical sensor sensor appears this code-disc changes.
Preferably, this second wiring board comprises a signal amplification module.
Preferably, this ruling grating is fixed under this code-disc and not and rotates with this rotation axis.
Preferably, this second wiring board is set in this magnet holder place.
Positive progressive effect of the present utility model is: the feature of using magneto-electric scrambler absolute encoder, by the high low defect of magneto-electric scrambler precision of revising of code-disc precision, use code-disc work response to make up soon the defect of magneto-electric scrambler low-response, make the compound scrambler of this programme there is the effect that response is fast, precision is high, power failure data is not lost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the existing incremental encoder of the utility model.
Fig. 2 is the structural representation of the existing magneto-electric scrambler of the utility model.
Fig. 3 is the structural representation of the compound scrambler of the utility model embodiment 1.
Fig. 4 is the operation schematic diagram of the compound scrambler of the utility model embodiment 1.
Embodiment
Lift a preferred embodiment below, and carry out by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
Embodiment 1
The present embodiment provides a kind of compound scrambler, as shown in Figure 3, comprise a rotation axis 1, a base 2, a magnet 3, a magnet holder 4, a magnet induction pick-up 5, one first wiring board 6, magnet 3 is a magnet, the first wiring board 6 comprises a processor, a storer and a power supply, this processor is MCU, and this storer is EEPROM, and this processor is electrically connected to this storer.This magnet is fixed in this magnet holder, and this magnet holder is fixed on the top of this rotation axis, and this magnet induction pick-up is positioned at the top of this magnet, and for detection of the changes of magnetic field of this magnet, this magnet induction pick-up is electrically connected to this first wiring board.
This compound scrambler also comprises an optical-electricity encoder and a ruling grating 7, this optical-electricity encoder comprises a code-disc 8, a light source 9, an optical sensor sensor 10, one second wiring board 11, the second wiring board is set in this magnet holder place, this code-disc is fixed on this rotation axis, this light source is positioned at the top of this code-disc and is located on this second wiring board, and this ruling grating is positioned at the below of this code-disc.This optical sensor sensor is positioned at the below of this ruling grating and is electrically connected to this second wiring board, and this first wiring board is electrically connected to this second wiring board.Optical sensor sensing is embedded in this base, the light and shade of the light appearing for detection of this code-disc changes, optical sensor sensor is electrically connected to this second wiring board, and this processor is also electrically connected to this power supply, this magnet induction pick-up and this second wiring board respectively.
In order to make the structure of clearer this compound scrambler of understanding of those skilled in the art's energy, to the course of work of this compound scrambler (as shown in Figure 4), position relationship between each parts and signal transmission relation and the effect reaching are made further aid illustration: in this programme, when rotation axis receives extraneous rotation input, can drive code-disc to rotate, because this second wiring board is provided with light source, this light source produces light, this code-disc can make those light that see through this code-disc produce the variation of several times light and shade when rotating along with this rotation axis, the light and shade of those light changes through ruling grating, the light and shade that this optical sensor sensor detects this ruling grating changes and transmits an electric signal to this second wiring board, this second wiring board is processed this electric signal and is amplified this electric signal of rear output.Therefore, when code-disc rotation certain displacement or angle, this second wiring board can obtain the electric signal that this optical sensor sensor transmits in time, before obtaining this electric signal, without do the work such as a series of magnetic-field measurement as magneto-electric scrambler, has greatly improved response speed.Especially the occasion of measuring at some High Rotation Speeds, this compound scrambler can guarantee can not produce hysteresis delay when this electric signal of output.
In addition, the high precision feature that relies on this code-disc to have is revised the absolute value electric signal of exporting on this first wiring board, to improve the precision of the absolute value electric signal of exporting on this first wiring board.The magnetic field accuracy error that deviation when all spending and installing due to the material of magnet causes is fixed, the groove of corresponding code-disc, can show that magnet is in the correction difference of each angle by installment and debugging, therefore when the first wiring board output absolute value signal, directly transfer the on the corner deviation of corresponding code-disc groove of the magnet deposited in storer, be superimposed on this first electric signal, can draw this absolute value signal.
While switching on again after compound scrambler power down, the original turned position of code-disc can be lost and easily be caused the measurement at original zero point to be offset, and the turned position of magnet is with only self-field is relevant, therefore, when having rotator inertia and produce, this first wiring board still can carry out the output of comparatively accurate numerical value.
Therefore, use the feature of magneto-electric scrambler absolute encoder, by the high low defect of magneto-electric scrambler precision of revising of code-disc precision, use code-disc work response to make up soon the defect of magneto-electric scrambler low-response, on electric, use respectively two non-interfering circuit redundancy each other, and realize two-way output signal, even if You Yi road signal electric part has damage also can not have influence on an other road signal, make the compound scrambler of this programme there is the effect that response is fast, precision is high, power failure data is not lost.
Although more than described embodiment of the present utility model, it will be understood by those of skill in the art that this only illustrates, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection domain of the present utility model.
Claims (8)
1. a compound scrambler, comprise a magneto-electric scrambler, this magneto-electric scrambler comprises a rotation axis, one base, one magnet, one magnet holder, one magnet induction pick-up and one first wiring board, this magnet is fixed in this magnet holder, this magnet holder is fixed on the top of this rotation axis, this magnet induction pick-up is positioned at the top of this magnet and is electrically connected to this first wiring board, it is characterized in that, this compound scrambler also comprises an optical-electricity encoder and a ruling grating, this optical-electricity encoder comprises a code-disc, one light source, one optical sensor sensor and one second wiring board, this code-disc is fixed on this rotation axis, this light source is positioned at the top of this code-disc and is located on this second wiring board, this ruling grating is positioned at the below of this code-disc, this optical sensor sensor is positioned at the below of this ruling grating and is electrically connected to this second wiring board, this first wiring board is electrically connected to this second wiring board.
2. compound scrambler as claimed in claim 1, it is characterized in that, this first wiring board comprises a processor, a storer and a power supply, and this processor is electrically connected to this storer, and this processor is also electrically connected to this power supply, this magnet induction pick-up and this second wiring board respectively.
3. compound scrambler as claimed in claim 2, is characterized in that, this processor is MCU, and this storer is EEPROM.
4. compound scrambler as claimed in claim 1, it is characterized in that, the incisure density of this ruling grating, width be identical with this code-disc all, the groove complete matching of the groove of this ruling grating one end and this code-disc, and the groove of the other end and the groove of this code-disc stagger completely.
5. compound scrambler as claimed in claim 1, is characterized in that, this optical sensor sensor is embedded in this base.
6. compound scrambler as claimed in claim 1, is characterized in that, this second wiring board comprises a signal amplification module.
7. compound scrambler as claimed in claim 1, is characterized in that, this ruling grating is fixed under this code-disc and not and rotates with this rotation axis.
8. the compound scrambler as described in claim 1-7 any one, is characterized in that, this second wiring board is set in this magnet holder place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420229105.XU CN203881354U (en) | 2014-05-06 | 2014-05-06 | Combined type encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420229105.XU CN203881354U (en) | 2014-05-06 | 2014-05-06 | Combined type encoder |
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| CN203881354U true CN203881354U (en) | 2014-10-15 |
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| CN201420229105.XU Expired - Lifetime CN203881354U (en) | 2014-05-06 | 2014-05-06 | Combined type encoder |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157734A (en) * | 2015-08-28 | 2015-12-16 | 长春三峰光电仪器制造有限公司 | Encoder |
| CN107255487A (en) * | 2017-07-28 | 2017-10-17 | 上海康比利仪表有限公司 | A kind of scanning means for photoelectric encoder |
| CN107356274A (en) * | 2015-01-09 | 2017-11-17 | 杭州谷立电气技术有限公司 | The method that motor positioning is carried out using novel encoder structure |
| CN107421430A (en) * | 2017-06-21 | 2017-12-01 | 宁波杜亚机电技术有限公司 | Manual tubular motor with memory function |
| CN108362314A (en) * | 2018-03-17 | 2018-08-03 | 欣灵电气股份有限公司 | High-precision servo encoder |
| CN108673554A (en) * | 2018-08-30 | 2018-10-19 | 遨博（北京）智能科技有限公司 | A kind of joint of robot arm and robot |
| CN110260900A (en) * | 2019-07-26 | 2019-09-20 | 浙江禾川科技股份有限公司 | Location determining method, device, equipment and the readable storage medium storing program for executing of hybrid coder |
-
2014
- 2014-05-06 CN CN201420229105.XU patent/CN203881354U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107356274A (en) * | 2015-01-09 | 2017-11-17 | 杭州谷立电气技术有限公司 | The method that motor positioning is carried out using novel encoder structure |
| CN107356274B (en) * | 2015-01-09 | 2019-11-05 | 杭州谷立电气技术有限公司 | The method for carrying out motor positioning using coder structure |
| CN105157734A (en) * | 2015-08-28 | 2015-12-16 | 长春三峰光电仪器制造有限公司 | Encoder |
| CN107421430A (en) * | 2017-06-21 | 2017-12-01 | 宁波杜亚机电技术有限公司 | Manual tubular motor with memory function |
| CN107255487A (en) * | 2017-07-28 | 2017-10-17 | 上海康比利仪表有限公司 | A kind of scanning means for photoelectric encoder |
| CN108362314A (en) * | 2018-03-17 | 2018-08-03 | 欣灵电气股份有限公司 | High-precision servo encoder |
| CN108673554A (en) * | 2018-08-30 | 2018-10-19 | 遨博（北京）智能科技有限公司 | A kind of joint of robot arm and robot |
| CN110260900A (en) * | 2019-07-26 | 2019-09-20 | 浙江禾川科技股份有限公司 | Location determining method, device, equipment and the readable storage medium storing program for executing of hybrid coder |
| CN110260900B (en) * | 2019-07-26 | 2020-05-19 | 浙江禾川科技股份有限公司 | Position determination method, device and equipment of hybrid encoder and readable storage medium |
| WO2021017075A1 (en) * | 2019-07-26 | 2021-02-04 | 浙江禾川科技股份有限公司 | Position determination method, apparatus and device for hybrid encoder, and readable storage medium |
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Granted publication date: 20141015 |