CN204831337U - Big absolute formula photoelectric encoder of narrow ring of hollow shaft many circles of ultra -thin type high accuracy - Google Patents
Big absolute formula photoelectric encoder of narrow ring of hollow shaft many circles of ultra -thin type high accuracy Download PDFInfo
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- CN204831337U CN204831337U CN201520479866.5U CN201520479866U CN204831337U CN 204831337 U CN204831337 U CN 204831337U CN 201520479866 U CN201520479866 U CN 201520479866U CN 204831337 U CN204831337 U CN 204831337U
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Abstract
The utility model provides a big absolute formula photoelectric encoder of narrow ring of hollow shaft many circles of ultra -thin type high accuracy, including main shaft, bearing, axle sleeve, first collimation LED, second collimation LED, code wheel, graticule A, graticule B, light sensitive array A, light sensitive array B, circuit board, encoder main part, fastener and connecting piece, a serial communication port, the code wheel connects firmly on the axle sleeve with splicing, encoder main shaft, bearing and main part and measured object main shaft, bearing and main part sharing, bushing installation is on the main shaft, through jackscrew locking and rotatory along with the main shaft, first collimation LED with second collimation LED is the installation side by side. The utility model discloses a photosensitive converter that advantage (1) adopted high integration small -size to stagger and settle has reduced encoder radial dimension, (2 )Adopt collimation LED light source, reduced to scurry light influences between intensive range code channel, (3 )Adopt the electronics method to encoder number of turns count, reduce encoder thickness, improved the reliability.
Description
Technical field
The utility model relates to a kind of digitizing angle-measuring equipment, particularly relates to the field such as wind-powered electricity generation, joint of robot angular velocity and the angular displacement narrow annulus of measuring large tubular shaft ultrathin high precision multi-turn absolute optical encoder real-time and accurately.
Background technology
The absolute optical encoder of degree of precision in the market belongs to solid shaft mostly, though or be tubular shaft, internal diameter is very little, and overall dimensions is also little, does not have the off-the-shelf of the narrow annulus of relatively large internal diameter to sell.Along with the field such as wind-powered electricity generation, robot is expanded rapidly, require that the load of axle system is more and more heavier, thus require that the internal diameter of the scrambler be contained in rotating shaft is larger; Simultaneously in order to the dirigibility of moving with alleviate volume and weight, require that again the external diameter of scrambler is little as far as possible, therefore a kind of imperial palace becomes urgent need through narrow annulus ultrathin type multi-turn tubular shaft high precision absolute optical encoder.
Utility model content
The purpose of this utility model is to provide the narrow annulus of a kind of large tubular shaft ultrathin high precision multi-turn absolute optical encoder, Bian two pieces 10 yuan (each array device arranging 10 light activated elements) undersized light-sensitive arrays of high integration do the electrooptical device of each code channel of absolute optical encoder, to stagger arrangement, reduce the radial dimension of scrambler significantly; Bian collimation LED light source, significantly reduces and alters influence of light between dense arrangement code channel; Bian secondary fine slightly corrects, and relaxes processing and debugs franchise; Electronics segmentation is adopted to realize high resolving power and high precision; Adopt electronics to add up rotating cycle and then can form multi-turn absolute optical encoder, eliminate gear drive, greatly reduced scrambler thickness, improve reliability; Narrow annulus ultrathin type (as: the internal diameter 50mm of large diameter can be realized when sharing bearing with main frame (as joint of robot), external diameter 100mm, annulus is 25mm only, thickness 16mm) multi-turn tubular shaft 33 (individual pen 17, the number of turns 16) absolute optical encoder, and internal-and external diameter is selected flexibly, the scope of application is wide.
The utility model provides the narrow annulus of a kind of large tubular shaft ultrathin high precision multi-turn absolute optical encoder for achieving the above object, comprises main shaft, bearing, axle sleeve, the first collimation LED, the second collimation LED, code-disc, graticule A, graticule B, light-sensitive array A, light-sensitive array B, wiring board, encoder main body, securing member and web member; Described code-disc splicing connects firmly on axle sleeve; Described scrambler main shaft, bearing and main body (casing) share with measured object (as joint of robot) main shaft, bearing and main body (casing); Described axle sleeve is arranged on main shaft, is locked and rotate with main shaft by jackscrew; Described first collimation LED and described second collimates LED and installs side by side, and launches parallel beam vertical irradiation on code-disc; The main body (support) that described encoder main body, the first collimation LED, the second collimation LED, graticule A, graticule B, light-sensitive array A, light-sensitive array B, wiring board are shared by supporting construction, securing member and scrambler is connected, transfixion.
Described code-disc has scribed 16 code channels be made up of 16 donuts, and each code channel is made up of fan-shaped equal with light tight interval of printing opacity; In code-disc, between each code channel fan section, size is different, and presses Gray code regular arrangement; Described graticule A and described graticule B is respectively by single slit (G1, G2, G3, G4, G5, G6, G7, G8), difference double aperture slit (G9-1, G9-2, G10 and the radix-minus-one complement thereof of printing opacity
) and form for the many slits [G11 (0 °), G11 (90 °), G11 (270 °)] segmenting code channel.
Described first collimation LED, the second light beam of sending of collimation LED through code-disc and graticule A, graticule B, modulate laggard enter light-sensitive array A, light-sensitive array B, and change into each code-disc through the corresponding electric signal of light intensity.
It is little that the utility model has radial dimension, can form large diameter, narrow annulus, extra-thin high precision multi-turn absolute optical encoder easily, and internal-and external diameter is selected flexibly, the advantage that the scope of application is wide.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, by describing in detail embodiment of the present utility model, will make the technical solution of the utility model and other beneficial effect apparent.
In accompanying drawing,
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model light-sensitive array A structural representation;
Fig. 3 is the utility model graticule A pattern schematic diagram;
Fig. 4 is the utility model graticule B pattern schematic diagram;
Fig. 5 is the utility model photoelectric encoder signal transacting schematic block diagram;
Fig. 6 is the utility model code-disc code channel and light-sensitive array A corresponding relation schematic diagram;
Fig. 7 is the utility model code-disc code channel and light-sensitive array B corresponding relation schematic diagram;
Fig. 8 is that the utility model light-sensitive array A and B staggers cloth schematic diagram;
Fig. 9 is the thick code-disc plane outspread drawing of the utility model;
Figure 10 is the thin code-disc plane outspread drawing of the utility model.
Drawing reference numeral:
1, main shaft; 2, axle sleeve; 3, the first collimation LED; 4, the second collimation LED; 5, code-disc; 6, graticule A; 7, light-sensitive array A; 8, graticule B; 9, light-sensitive array B; 10, wiring board; 11, pedestal; 12, bearing;
Embodiment
For further setting forth the technological means and effect thereof that the utility model takes, be described in detail for the joint of robot ultrathin high precision multi-turn absolute optical encoder of the narrow annulus of large tubular shaft and accompanying drawing thereof.Consult Fig. 1---10, the present embodiment provides the narrow annulus of a kind of large tubular shaft ultrathin high precision multi-turn absolute optical encoder, comprises main shaft 1, bearing 12, axle sleeve 2, first collimation LED3, the second collimation LED4, code-disc 6, graticule A6, graticule B8, light-sensitive array A7, light-sensitive array B9, wiring board 10, encoder main body, securing member and web member; It is characterized in that, the splicing of described code-disc 5 connects firmly on axle sleeve 12; Described scrambler main shaft 1, bearing 12 and main body (casing) share with measured object (as joint of robot) main shaft, bearing and main body (casing); Described axle sleeve is arranged on main shaft, is locked and rotate with main shaft by jackscrew; Described first collimation LED and described second collimates LED and installs side by side, and launches parallel constant light beam vertical irradiation on code-disc; The joint of robot main body (support) 11 that described encoder main body, the first collimation LED3, the second collimation LED4, graticule A6, graticule B8, light-sensitive array A7, light-sensitive array B9, wiring board are shared by supporting construction, securing member and scrambler is connected, transfixion.
Described light-sensitive array A7, light-sensitive array B9 are combined by 10 arrangement of photosensitive elements respectively; The code channel that the light activated element of described light-sensitive array A7, light-sensitive array B9 is corresponding different; Described light-sensitive array A7 is identical with the structure of light-sensitive array B9, consults Fig. 2;
Described first collimation LED3, the second light beam of sending of collimation LED4 through code-disc 5 and graticule A6, graticule B8, modulate laggard enter light-sensitive array A7, light-sensitive array B9, and change into each code-disc 5 through the corresponding electric signal of light intensity.
Described code-disc 5 has scribed 16 code channels be made up of 16 donuts, each code channel is called code-disc pattern by printing opacity and the light tight pattern combined, the different Angle Position of different code-disc pattern correspondence code disc spins, on graticule (also known as reading slit) A, B, the slit (having single slit, double aperture slit, many slits) of printing opacity has been scribed with each code channel correspondence position, the real-time Angle Position rotating code-disc is gathered, state when judging to sample by reading slit on code-disc residing for each code channel, is namely in photic zone or light tight district.When being in photic zone, this code channel through light be radiated on the element on the light-sensitive array corresponding with this code-disc by transmissive slit corresponding on graticule, and change into the photosignal corresponding with it and export.Code-disc rotates with the axis, first collimation LED3, the second collimation LED4, graticule A6, graticule B8, light-sensitive array A7, light-sensitive array A9 transfixion, the each code channel photosignal gathered comprehensive, carry out amplifying through electronics treatment circuit, compare, maintenance of sampling, A/D conversion and microprocessor decoding, segmentation, correction process output 20,21,22,21617 individual pen scale-of-two angle codes, scrambler mechanical axis rotates a circle, and space angle changes 360 °.Microprocessor relies on the Changing Pattern of individual pen angle code to judge the number of turns that scrambler mechanical axis rotates, and carries out accumulated counts, lap count capacity 16, output code 217,218,219 ... 232, whole scrambler has 33 parallactic angle resolution characteristiies.According to user's needs, can walk abreast or serial (or with the bus format required) output; If there is more high resolving power requirement, suitably can increases segmentation mark (interpolated coefficients) and realize.Because adopting the electronics method cumulative note number of turns, after power down, lap information will be lost, so want external battery to retain lap information.
10 yuan of long only 7.6mm of light-sensitive array encapsulation in accompanying drawing 2, effective photosensitive unit head only 5.6mm, two light-sensitive arrays as shown in Figure 8, be staggeredly arranged, the then radial package dimension that can save 4mm, can ensure that code-disc pattern radial dimension is less than 12mm, add other scantlings, the toroid size of scrambler can be less than 25mm.
Due to shared bearing, physical dimension is significantly compressed, the thickness of scrambler, only by thickness and the location arrangements decision between them of the first collimation LED3, the second collimation Led4, code-disc 5, graticule A6, graticule B8, light-sensitive array A7, light-sensitive array B9 and wiring board 10, can be controlled within 16mm.
Code-disc design by the restriction of internal diameter, can easily not realize imperial palace through structure.Such as: when selected internal diameter is diameter 50mm, just can form annulus 25mm, 33 multi-turn absolute optical encoders of thickness 16mm.
The above; for the person of ordinary skill of the art; can make other various corresponding change and distortion according to the technical solution of the utility model and technical conceive, and all these change and be out of shape the protection domain that all should belong to the utility model claim.
Claims (3)
1. the narrow annulus of a large tubular shaft ultrathin high precision multi-turn absolute optical encoder, comprises main shaft, bearing, axle sleeve, the first collimation LED, the second collimation LED, code-disc, graticule A, graticule B, light-sensitive array A, light-sensitive array B, wiring board, encoder main body, securing member and web member; It is characterized in that, described code-disc connects firmly on axle sleeve by splicing; Described main shaft, bearing and encoder main body and measured object main shaft, bearing and main body share; Described axle sleeve is arranged on main shaft, is locked by jackscrew; Described first collimation LED and described second collimates LED and installs side by side, and launches parallel beam vertical irradiation on code-disc; The main body support that described first collimation LED, the second collimation LED, graticule A, graticule B, light-sensitive array A, light-sensitive array B, wiring board are shared by securing member and scrambler is connected.
2. the narrow annulus of the large tubular shaft of one according to claim 1 ultrathin high precision multi-turn absolute optical encoder, it is characterized in that: described code-disc has scribed 16 code channels be made up of 16 donuts, each code channel is made up of fan-shaped equal with light tight interval of printing opacity; In code-disc, between each code channel fan section, size is different, and presses Gray code regular arrangement; Described graticule A and described graticule B is made up of single slit of printing opacity, difference double aperture slit and the many slits for segmenting code channel respectively.
3. the narrow annulus of the large tubular shaft of one according to claim 1 ultrathin high precision multi-turn absolute optical encoder, its feature also comprises: described light-sensitive array A, light-sensitive array B are combined by 10 arrangement of photosensitive elements respectively; The code channel that the light activated element of described light-sensitive array A, B is corresponding different.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248115A (en) * | 2016-09-19 | 2016-12-21 | 珠海格力节能环保制冷技术研究中心有限公司 | Determine grating, dynamic grating and photoelectric encoder |
| CN106482668A (en) * | 2016-11-21 | 2017-03-08 | 班戈设备***（苏州）有限公司 | A kind of angle pinpoint accuracy measuring system and angle-measuring method |
| CN106771318A (en) * | 2016-11-22 | 2017-05-31 | 中国航空工业集团公司上海航空测控技术研究所 | Rotation-speed measuring device during a kind of high-precision real of hollow structure |
| CN107885943A (en) * | 2017-11-16 | 2018-04-06 | 山信软件股份有限公司 | A kind of blast furnace chute turning angle computational methods |
| CN108592961A (en) * | 2018-05-21 | 2018-09-28 | 深圳市英科达光电技术有限公司 | A kind of high-precision absolute optical encoder that the full code of the more reading heads of vernier is added |
| CN108603772A (en) * | 2016-02-10 | 2018-09-28 | 株式会社国际电气通信基础技术研究所 | Rotary configured, auxiliary system and robot |
| CN110978015A (en) * | 2019-12-12 | 2020-04-10 | 常州节卡智能装备有限公司 | Encoder and robot joint |
-
2015
- 2015-06-30 CN CN201520479866.5U patent/CN204831337U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108603772A (en) * | 2016-02-10 | 2018-09-28 | 株式会社国际电气通信基础技术研究所 | Rotary configured, auxiliary system and robot |
| CN106248115A (en) * | 2016-09-19 | 2016-12-21 | 珠海格力节能环保制冷技术研究中心有限公司 | Determine grating, dynamic grating and photoelectric encoder |
| CN106482668A (en) * | 2016-11-21 | 2017-03-08 | 班戈设备***（苏州）有限公司 | A kind of angle pinpoint accuracy measuring system and angle-measuring method |
| CN106771318A (en) * | 2016-11-22 | 2017-05-31 | 中国航空工业集团公司上海航空测控技术研究所 | Rotation-speed measuring device during a kind of high-precision real of hollow structure |
| CN107885943A (en) * | 2017-11-16 | 2018-04-06 | 山信软件股份有限公司 | A kind of blast furnace chute turning angle computational methods |
| CN107885943B (en) * | 2017-11-16 | 2021-04-09 | 山信软件股份有限公司 | Blast furnace chute tilting angle calculation method |
| CN108592961A (en) * | 2018-05-21 | 2018-09-28 | 深圳市英科达光电技术有限公司 | A kind of high-precision absolute optical encoder that the full code of the more reading heads of vernier is added |
| CN110978015A (en) * | 2019-12-12 | 2020-04-10 | 常州节卡智能装备有限公司 | Encoder and robot joint |
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