EP2606314A2 - Dispositif de mesure de position et procédé de détermination d'une position absolue - Google Patents

Dispositif de mesure de position et procédé de détermination d'une position absolue

Info

Publication number
EP2606314A2
EP2606314A2 EP11748874.2A EP11748874A EP2606314A2 EP 2606314 A2 EP2606314 A2 EP 2606314A2 EP 11748874 A EP11748874 A EP 11748874A EP 2606314 A2 EP2606314 A2 EP 2606314A2
Authority
EP
European Patent Office
Prior art keywords
light
sensor head
track
light receiver
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11748874.2A
Other languages
German (de)
English (en)
Inventor
Jean-Jacques Wagner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Elesta GmbH
Original Assignee
Elesta Relays GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CH01342/10A external-priority patent/CH703663A1/de
Priority claimed from CH01341/10A external-priority patent/CH703647A1/de
Priority claimed from CH01343/10A external-priority patent/CH703664A1/de
Application filed by Elesta Relays GmbH filed Critical Elesta Relays GmbH
Publication of EP2606314A2 publication Critical patent/EP2606314A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/06—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of pushers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • 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
    • 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
    • G01D5/3473—Circular or rotary encoders
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
    • H01L31/02—Details
    • H01L31/0203—Containers; Encapsulations, e.g. encapsulation of photodiodes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
    • H01L31/08—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors
    • H01L31/10—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors characterised by potential barriers, e.g. phototransistors
    • H01L31/101—Devices sensitive to infrared, visible or ultraviolet radiation
    • H01L31/102—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier
    • H01L31/105—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier the potential barrier being of the PIN type
    • H01L31/1055—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier the potential barrier being of the PIN type the devices comprising amorphous materials of Group IV of the Periodic Table

Definitions

  • the invention relates to a position measuring device according to the preamble of claim 1 and to a method for determining the absolute position of a movable part according to the preamble of claim 8.
  • a sensor head of a sensor operating with reflected light has a light source, which projects a light beam onto a physical scale, and two semiconductor substrates.
  • the semiconductor substrates each include photodetectors to detect light reflected by the scale.
  • Light source and semiconductor substrates are in one
  • Semiconductor substrate has an electrical circuit, and the electrical circuits of both semiconductor substrates are connected to each other by electrical lines, which are formed on the underside of the lid.
  • Current-voltage transformers are formed directly on the semiconductor substrates in order to minimize disturbances.
  • a disadvantage of the previously known sensor head is its complicated production. It must first the
  • the device should be as compact as possible in size, so that it is suitable for the construction of small encoders. Despite the very compact design, however, it should be able to provide an accurate determination of the absolute position (even in the rest position), which requires that a good quality basic signal is generated.
  • Another object of the present invention is to provide a position measuring apparatus which
  • CONFIRMATION COPY is inexpensive to produce. The construction of the device should also make them insensitive to environmental influences. It should also have a low energy consumption, ie be suitable for operation with batteries. Description:
  • the function of the sensor head is determined by a lithography step, by which a light source and light receiving elements and on the glass substrate are formed.
  • the glass substrate is placed on the carrier plate.
  • the light receiver elements are connected via Stud bumps and tracks directly to a arranged on the back of the carrier plate evaluation circuit.
  • a compact design is made possible by the use of FlipChip mounting and other precautions. These are e.g. the choice of the metallic top layer of the light-receiving elements, the use of stud bumps for a stable electrical connection (for a stable fundamental signal) and the use of an adhesive technique, with a rather unusual permanent resist allowing secure bonding. It is possible with this construction method to work at low temperatures, which protects the light receiver.
  • the very small sensor head is mounted on a moving part, e.g. a lever, which is the determination of the absolute position e.g. allows a motor shaft in its rest position.
  • a position measuring device in particular an encoder
  • a position measuring device is particularly preferred if it - in particular in combination with one or more of the features mentioned in this document, the following components:
  • a sensor head arranged on the support with a light source and a light receiver element
  • a measuring element which is movable relative to the sensor head and has optical elements which can be mounted on a moving part of a device, for example a motor, and can cooperate with the sensor head for determining an absolute position value
  • the sensor head is movably mounted on the support, and means are provided for displacing the sensor head relative to the support by a certain amount.
  • the movable arrangement of the sensor head on the support has the advantage that the absolute position of a movable part, e.g. a shaft or other machine part can be determined in its rest position.
  • a movable part e.g. a shaft or other machine part
  • the absolute position of the machine part can be determined in the shortest possible time, without any movement of the machine part itself being necessary, e.g. first approach a reference mark.
  • the position measuring device is characterized in that the displacement means for moving the sensor head are formed by a motor, which is in operative connection with the sensor head.
  • the dimensional standard is a code disk.
  • the sensor head in order to determine the absolute position of the movable part in the rest position, the sensor head is displaced relative to the movable part.
  • it is a position measuring device with
  • At least one measuring scale with an optical structure preferably an arrangement of 3-D
  • the light receiver is in the form of a Thin-film structure consisting of several superimposed layers is deposited directly on the transparent substrate,
  • a light source is provided at a distance from the light receiver
  • a support plate is provided, on which the substrate is arranged.
  • the light receiver thus advantageously has the shape of a thin-film sensor.
  • a recess for a light source is provided.
  • the light source is preferably designed so that it is manufactured with the processes for producing the sensors (light receiver elements), so that the dimensions and position of the light receiver and the light source are predetermined by a lithographic mask.
  • the light source can be formed by a diaphragm and an LED or by an OLED deposited directly on the substrate. In contrast to the prior art described above, no further adjustments are therefore necessary, which makes the production of the position measuring device considerably simpler, but also more reliable.
  • the light source is preferably arranged behind a recess etched in the mentioned layers.
  • an evaluation circuit may be provided, which is arranged on the carrier plate.
  • the carrier plate preferably has conductor tracks on both flat sides, on the one hand for contacting with the light receiver and on the other hand for contacting an evaluation circuit. Moreover, it is advantageous if the carrier plate has connections for connecting the position measuring device to an external display device.
  • the transparent substrate and the carrier plate are connected to each other with advantage by flip-chip mounting.
  • a metallic cover layer preferably made of aluminum, contacted.
  • the electrically conductive metal is preferably aluminum, which is preferably alloyed with 1 to 5% titanium.
  • the connection between the metallic cover layer or the bumps on the one hand and the carrier plate on the other hand is preferably made by means of an electrically conductive adhesive.
  • a permanent resist for limiting the expansion of the adhesive is provided between the carrier plate and the substrate.
  • an intrinsic layer preferably an amorphous silicon layer
  • the aluminum layer etched away the uppermost doped layer, and preferably at least a portion of the intrinsic layer.
  • Sensor area is formed each consisting of a plurality of light receiving elements, which are electrically connected to each other.
  • at least one first and one second sensor area are provided in the device, which areas of a physical scale are associated with an incremental track and an index track or an absolute track.
  • the first sensor region preferably has first and second light receiver elements, which are nested one inside the other. Furthermore, it may be advantageous if the first and second light-receiving elements have an approximately U-shaped configuration.
  • the geometric center of gravity of the first and second light receiver elements of the first sensor region should preferably lie approximately on a straight line. It can also be provided that the first sensor region is formed in each case by a plurality of preferably strip-shaped
  • Light receiver elements is formed, which light receiving elements are arranged at an angle of preferably between 0.5 and 15 degrees to each other and in a certain direction one behind the other.
  • the even and (in terms of their sequence) odd light receiver elements can each be electrically conductively connected to each other.
  • the first and / or the second light-receiving elements are connected to one another by an additionally applied, electrically conductive layer, wherein an insulating layer is provided between the metal layer and the additional, conductive layer.
  • the first and second light-receiving elements of the first sensor region are preferably arranged such that two 180-degree-shifted alternating signals are obtained in the order "AbaB".
  • Said device may further be characterized in that the second sensor region is provided for the generation of an index and a strip-shaped, first light-receiving element and two projecting at an angle from the first light-receiving element second light-receiving elements are formed.
  • Light receiver elements of the second sensor area advantageously coincide substantially.
  • the material measure has two tracks with optical elements, wherein a first track of the generation of an incremental signal and the second track of the determination of a position number or an index signal is used.
  • the light source may be located behind the substrate.
  • the light source is an LED.
  • the light source can be arranged substantially in the same plane as the light receivers.
  • the light source preferably an OLED, is formed directly on the substrate between the light receivers.
  • the light source is embedded in a metallic layer, so that stray light can be prevented. There may also be an air gap in the light path between the light source and the substrate.
  • the evaluation circuit is on the other side (ie on the side remote from the light receivers and / or the light source) of the support plate in the form of an integrated circuit for processing the light receiver signals (preferably in the flip-chip method), wherein the light receiver electrically connected to the integrated circuit are.
  • Said backing plate is preferably made of ceramic or of plastic (e.g., polyimide).
  • the carrier plate may be made of plastic film, preferably polyimide film.
  • Thin-film process which groups of light receivers each serve to produce a single sensor head
  • contact points can also take the form of gold balls, so-called “stud-bumps”, or in
  • an electrically non-conductive layer can be applied to the carrier plate, which has recesses which coincide with the contact points of the light receiver.
  • the recesses can then be filled at least partially with the electrically conductive adhesive.
  • an evaluation circuit can be applied.
  • the dimensional standard is preferably a code disk or a code disk is provided, which has a named dimensional embodiment.
  • a position measuring device is particularly preferred when it has the following components, in particular in combination with one or more of the abovementioned features:
  • a sensor head arranged in the housing with a light source and a light receiver element
  • a rotatable code disc mountable on a shaft of a device, preferably a motor,
  • the sensor head is preferably mounted on a printed circuit board, which is positively connected to the housing, preferably via a snap connection.
  • the position measuring device comprises an adapter part, which - a first connecting means for connecting to the device and
  • Recesses is formed on the housing.
  • the housing advantageously has an assembly bearing into which the code disk and / or a receptacle connected to the code disk for a shaft is accommodated.
  • the assembly bearing may be, for example, a ball bearing and in particular a Teflon bearing.
  • the contacting of the sensor head is carried out according to a preferred embodiment via a lateral opening in the housing, wherein the opening is arranged on the side facing away from the code disk of the sensor head.
  • the contacting can be done via one or more cables, which run through the opening, which is preferably flat cable and in particular is a flexprint.
  • the housing has a recess on the side, which adjoins the opening, wherein the indentation preferably extends from the opening along the side to another side or an edge or edge of the housing and / or wherein the indentation preferably extends from the opening to the top of the housing.
  • a likewise preferred embodiment variant provides that the material measure has at least two tracks, wherein one track is an incremental track and wherein a second track is preferably either an index track or a code track.
  • a position measuring device (preferably an encoder) may have the following components, in particular in conjunction with one or more of the features mentioned:
  • the dimensional scale is preferably arranged on a code disk, which may be mounted on a shaft of a motor or other device.
  • the light receiver element is arranged in a defined or predetermined position relative to the optical elements and cooperates with these to generate a signal. According to the invention, said defined position of the light receiving element relative to the optical elements by a
  • Sensor head holder set which cooperates with the sensor head form-fitting.
  • the acts Sensor head holder also with the housing form-fitting together.
  • the housing is arranged in a defined position relative to the material measure and / or to the optical elements.
  • the sensor head holder may be the described carrier on which the sensor head is arranged and which in order to move the sensor head is in operative connection with a motor.
  • position in this document preferably refers to the distance and / or the orientation of the addressed device part, in particular relative to other device parts.
  • the deviation from the defined positions is advantageously less than 0.2 mm, preferably less than 0, 1 mm, and more preferably less than 0.05 or 0.02 mm, that is to say the corresponding parts of the device are identical to those mentioned
  • the position measuring device is characterized in that the
  • Light receiver element is arranged on a substrate whose edge cooperates positively with the sensor head holder. Furthermore, it is preferred if the light-receiving element is applied to the substrate by means of a thin-film process.
  • the substrate is advantageously a transparent substrate and more preferably a glass substrate.
  • the exact position of the light-receiving elements relative to the edge of the substrate and thus to a part of the sensor head can already be determined in the manufacturing process. It's especially easy
  • a substrate plate is provided with a plurality of light-receiving elements and then divided into smaller units (substrates). This dicing can be done very accurately, e.g. by sawing the substrate plate. This results in a defined
  • the sensor head holder has a first structural element which interacts with the sensor head in a form-fitting manner, wherein the first structural element is preferably an opening. Furthermore, it is advantageous if the sensor head holder has a second structural element which interacts with the housing in a form-fitting manner, wherein the second structural element is preferably the edge of the sensor head holder.
  • the first structural element is advantageously arranged in a defined position relative to the second structural element. The first structural element can now interact positively with the edge of the substrate.
  • the position of the light receiving elements relative to the optical elements on the Mass embodiment is preferably determined by a plurality of matched in their dimensions device parts (substrate, sensor head holder, housing, material measure).
  • the advantage is that a mechanical adjustment during assembly is eliminated.
  • the sensor head holder thus acts as an adapter.
  • the sensor head holder can be designed as part of the housing and / or the lid mentioned below. However, it is preferred if the sensor head holder is designed as a separate device part, because thereby the production and Assembly easier.
  • the sensor head holder between the dimensional scale and a lid closing the housing is arranged.
  • the lid is preferably in contact with the sensor head holder and fixes this with respect to its position in the housing. It is particularly preferred if an edge is provided in the interior of the housing, which forms a support for the sensor head holder and when the sensor head holder is fixed between this support and the lid.
  • a sensor head which has one or more light receiver elements is positively connected to a sensor head holder.
  • the sensor head holder is positively connected to a housing.
  • the sensor head holder is preferably introduced or inserted into the housing.
  • the housing is arranged in a predetermined or defined position relative to a dimensional scale, wherein the dimensional scale is rotatable and has optical elements.
  • the housing, the sensor head holder and the sensor head are or will be designed so that their positive cooperation determines a defined position of the light receiving element relative to the optical elements.
  • the light-receiving element is applied to a substrate
  • the edge of the substrate cooperates with the sensor head holder in a form-fitting manner when the sensor head is connected to the sensor head holder,
  • the light-receiving element is preferably applied by means of a thin-film process on the substrate, and
  • the substrate is a transparent substrate and more preferably a glass substrate.
  • the sensor head holder is formed with a first structural element, which cooperates positively with the sensor head when the sensor head is connected to the sensor head holder, wherein it is the first
  • Structural element is preferably a (preferably continuous) opening
  • the sensor head holder is formed with a second structural element, which cooperates positively with the housing when the sensor head holder is connected to the housing, wherein it is the second
  • Structural element is preferably around the edge of the sensor head holder
  • the first structural element is formed in a defined position relative to the second structural element.
  • the sensor head holder is inserted into the housing at a distance from the material measure and is positively connected to the housing,
  • the housing On the side facing away from the scale of the sensor head holder, the housing is closed by a lid, and the cover is preferably brought into contact with the sensor head holder,
  • the lid and / or the housing and / or the sensor head holder to separate device parts. Thanks to the compact design of the sensor head, it is possible to produce encoders with additional features, such as position sensors with multiple sensor heads for redundant detection of
  • Position values Another possibility is to build very compact absolute encoders, which have incorporated in the material measure a Manchester code or similar serial codes or a pseudorandom code.
  • the codes mentioned can be designed, for example, as binary codes.
  • two differently aligned with respect to their optical axis optical elements which cooperate with suitable receiver elements, two different states or signals can be generated.
  • the signals or states mentioned can be related to the increment signal.
  • the determination of an absolute position value is made possible by a relative movement between sensor head and material measure, in which the sequence of the optical elements is determined.
  • the measuring graduation is formed from semicircular cylindrical reflectors and the light source has certain dimensions. This in turn requires a precise position of the light source above the light sensor to obtain stable and reliable signals.
  • the bundling of the total amount of light falling on a graduation of the material scale together with the compact sensor head make it possible to build position detection units which have a high luminous efficacy and thus low power consumption, and to ensure the function of the encoder with less light output.
  • Position measuring devices according to the invention can thus be optimally used for battery devices.
  • a thin-film structure with an intrinsic layer has the advantage that reliable light receivers can be produced by simple means because of the presence of an intrinsically insulating intermediate layer.
  • These layers have low dark currents and are particularly suitable for the construction of a sensor head for an encoder that can operate with low power.
  • Fig. 1 shows schematically and in perspective view the basic structure of an encoder, consisting of a sensor head according to the invention and an existing at a distance from the sensor head measuring scale;
  • Fig. 2 shows schematically the structure of the sensor head consisting of glass substrate with formed thereon
  • FIG. 3 shows the individual method steps for producing the sensor areas and contacting them
  • Fig. 5 schematically shows the mounting of the components on a wafer substrate
  • Fig. 6 in section a practical embodiment of a housing arranged in an encoder for
  • Fig. 7 schematically, as in a relative movement of the receiver element and material measure from the
  • Receiver element registered light intensities are converted into an Anatogsignal and subsequently into a digital signal for the position determination;
  • Fig. 8 shows schematically the generation of an index signal by means of a single optical element and two receiver elements
  • Fig. 9 shows schematically the generation of a position signal by means of two different, optical
  • FIG. 10 shows a plan view of a first exemplary embodiment of a sensor head according to the invention having a plurality of receiver elements with an increment line and an index track;
  • FIG. 11 is a plan view of a second embodiment of a sensor head according to the invention, in which the receiver elements are electrically connected by means of a separate conductor track;
  • Fig. 12 shows an embodiment of the invention with a light source with an LED behind a panel is arranged, wherein the aperture substantially determines the dimensions of the light source;
  • Fig. 15 is a perspective view of a kit encoder with motor
  • Fig. 16 is a rear and side view of the housing with horizontal cable
  • Fig. 17 is a sectional view of the housing of the kit encoder
  • Fig. 18 shows a preferred embodiment of the wave recording.
  • FIG. 1 shows an encoder 10 according to the invention comprising a sensor head 11 and a measuring graduation 13 which is movable in a direction 15 relative to the sensor head 11.
  • the first and second sensor region 29, 35 are arranged, which lie at a distance 40 to the material measure 13.
  • dimensional standard is understood to mean a scale or scale which is applied to a support or carrier and is suitable for reflecting and modulating a light beam when the material measure is moved relative to the sensor head.
  • a material measure may have the shape of a circular code disc or an elongated beam.
  • the scale itself has a pitch, each pitch being, by definition, capable of modulating a beam of light as the pitch is moved by the beam of light.
  • each division is represented by a reflective optical element suitable for focusing a light beam (e.g., hollow cylinder, concave mirror).
  • a light beam e.g., hollow cylinder, concave mirror.
  • lattice structures although their efficiency in light processing would be smaller than that of mirrors, by means of which the light beam is diffracted.
  • the sensor head 11 shown consists essentially of a support plate 17 and a transparent substrate 19, on the back side, i. that side, which faces the support plate 17, a light source 21 and
  • Light receiver elements 23 are arranged.
  • the light source 21 emits a light beam whose major axis is designated by the reference numeral 22.
  • a light source is used which emits light in the visible range.
  • light with a wavelength below 630 nm, in particular 580 and 630 nm, or below 460 nm would be advantageous.
  • the material measure 13 contains at least one first track 25 with first optical elements 27, which cooperates with a first sensor region 29 of the material measure 13.
  • a second track 31 with at least one individual optical element 33 is provided. This second track 31 cooperates with a second sensor area 35 of the sensor head 11. As can be seen from FIG.
  • the optical elements 27 of the measuring scale are arranged in a plane which is substantially parallel to the flat sides 37 of the substrate.
  • the material measure 13 is arranged relative to the substrate 19 such that the tracks 25, 31 in each case in a direction parallel to the axis 22 of the light beam with the sensor regions 29,35 match.
  • the optical elements 27, 33 are designed as focusing lenses or mirrors, which reflect incident light in bundled fashion onto the sensor head 11. According to the embodiment shown, the optical elements 27, 33 have the shape of a circular half-cylinder.
  • the first track 25 serves the
  • the position of the material measure relative to the sensor head (in particular the distance 40, see Fig.1) is usually associated with a mounting tolerance, which directly affects the quality and reliability of the measurement signal.
  • the flat sides 37 of the substrate 19 are parallel to a plane passing through the measuring scale 13, and the direction of movement 15 (corresponding to a tangent to a circular path in the case of a measuring graduation on a circular disk) extends at right angles to a longitudinal central axis 39, which the sensor areas 29,35 and the light source 21 each divides into two sections.
  • the center line 43 of the measuring scale will run substantially parallel to an axis 45 passing through the center of the light source 21, provided that the sensor areas 29, 35 are arranged symmetrically to the center of the light source.
  • the nominal distance is determined primarily by the design of the optical elements 27, 33 of the material measure 13.
  • focusing optical elements and in particular three-dimensional (3D) reflectors are particularly preferred, because they are particularly tolerant with respect to a variation of the distance between measuring standard 13 and substrate 19.
  • 3-channel encoders with a width of a pitch of 18 pm to 150 pm can be realized. For an encoder with a case diameter of about 20 mm, this corresponds, e.g.
  • a number of dashes on the code disk of 360 to 3000 and in the case of an encoder with a case diameter of about 6 mm would correspond to a number of bars from 64 to 380 (a bar may be defined, for example, by an optical element or a division).
  • the sensor head 11 according to the invention according to FIG. 2 comprises the substrate 19 with the first and second
  • Substrate 19, carrier plate 17 and evaluation unit 47 are mechanically firmly connected to one another by means of adhesive and underfill and are sealed off from the environment.
  • the light source 21 is preferably an LED located behind a shutter which defines the dimension of the light source.
  • the sensor regions 29, 35 are deposited directly on the substrate in a multi-stage thin-film process, by means of which the sensors and the diaphragm 49 are preferably formed in an etching process.
  • This manufacturing method has the advantage that the relation between diaphragm 49 and sensor regions 29, 35 can be set very precisely, so that they can be formed in an etching stage according to FIGS. 3 b and 4b.
  • the electrical connection between the first and second sensor regions 29, 35 and the carrier plate 17 preferably takes place by means of flip-chip mounting. So that the heat-sensitive sensor regions 29,35 can not be damaged during the manufacturing process - which could be the case if .bumps "were used from solder - so-called” stud bumps "or ultrasonically applied gold balls 53 on the aluminum are used for the electrical contacting formed upper sensor area 51 (Fig. 3e) applied.
  • conductor tracks 55 are provided on the carrier plate 17. Above these printed conductors 55, a film 57 is preferably applied, which has recesses 59 at the location of the planned electrical connection, which are filled with conductive adhesive 54 (FIG. 3 e) prior to assembly (FIG. 3 e).
  • substrate 19 and carrier plate 17 can now be connected to one another.
  • recesses 59 are provided at the intended contact points.
  • Suitable film formers are various plastics, such as e.g.
  • Epoxy material After joining, the gap between the carrier plate 17 and the glass substrate 9 is then filled with a so-called "underfiH.”
  • the evaluation circuit 47 for example an ASIC, is arranged on the back 63 of the carrier plate 17.
  • the connection of the evaluation circuit 47 to the carrier plate 17 can also be used by flip-chip mounting analogously to the connection between the glass substrate 19 and the carrier plate 17.
  • printed conductors 64 and a non-conductive layer 65 with recesses 67 are applied on the rear side 63.
  • the recesses 67 are in this case in contact with the one to be contacted
  • An electrically conductive adhesive is filled into these before the joining together of the carrier plate 17 with the evaluation circuit 47.
  • the through-connection from the front to the rear takes place by means of openings 69 in the carrier plate 17, which are connected to a conductive material, eg a Lot or an electrically conductive adhesive, gegla are satisfied.
  • the light source 21, eg an LED, is accommodated in a recess 71 of the carrier plate 17.
  • a spacer element 75 keeps the light source 21 at a distance from the glass substrate 19, so that an air gap 77 is provided between the light aperture or aperture 49.
  • the air gap 77 serves to reduce the internal reflection present in the substrate 19, and thus to achieve better utilization of the light energy.
  • the rear side of the LED light source 21 can be contacted by means of an electrically conductive adhesive 79 (FIG. 4e).
  • an electrically conductive adhesive 79 FIG. 4e
  • a transparent substrate preferably a glass substrate (FIG. 3 a).
  • the glass substrate size is chosen so that a plurality of in particular more than 200, preferably more than 2000, and more preferably more than 10 ⁇ 00 sensor arrays can be produced simultaneously.
  • the selection of the substrate size is carried out depending on the existing coating and etching devices.
  • the following layers are preferably applied successively on the glass substrate 19 (FIG. 3 a), which preferably results in the construction of a PIN diode:
  • a first n- or p + doped layer 83 with a layer thickness between 10 and 80 nm, preferably between 20 and 70 nm and particularly preferably between 25 and 50 nm.
  • an intrinsic (intrisic) layer 85 with a layer thickness between 100 and 1500 nm, preferably between 200 and 1000 nm and particularly preferably between 400 and 800 nm.
  • a second p + or n-doped layer 87 with a layer thickness between 10 and 80 nm, preferably between 20 and 70 nm and particularly preferably between 25 and 50 nm and
  • a conductive upper layer 51 with a layer thickness between 100 and 2000 nm, preferably between 500 and 1500 nm and in particular between 700 and 1200 nm. In the region of the contact points 89.91, or in the region of
  • the layer thickness is particularly preferably 1000 nm.
  • the deposition of the various layers is preferably carried out by means of a CVD (chemical vapor deposition), PECVD (plasma enhanced chemical vapor deposition) or similar, modified processes such as VHFCVD or HWCWD.
  • a plasma assisted chemical vapor deposition of preferably silane is used to produce an aSi: h (amorphous silicon) intrinsic layer.
  • a Si: h amorphous silicon
  • the shape and extent of the light-receiving elements and the light source are defined by applying a photoresist to the uppermost layer 51, this is exposed with a mask with UV and either the unexposed or the exposed areas are replaced.
  • a photoresist to the uppermost layer 51, this is exposed with a mask with UV and either the unexposed or the exposed areas are replaced.
  • the conductive covering layer 51, the second doped layer 87 and preferably a part of the amorphous silicon layer 85 can be removed Structure of the light receiver already formed ( Figure 3b.)
  • the amorphous silicon and similar materials could be used, which are preferably used for the formation of a PIN diode.
  • the TCO layer is exposed at certain points, by the amorphous silicon layer 85 and the first doped layer 83 substantially in a second etching step (ion beam etching and / or "reactive ion beam etching" (RIE)), or modified
  • RIE reactive ion beam etching
  • the procedure can be analogous to the first etching process, ie the points not to be processed are first masked and then the non-masked points are processed
  • the exposed areas, after removal of the amorphous silicon layer form one electrical contact point 89 of the light receiver, and the other contact point 91 is formed by the conductive cover layer 51.
  • the sensor region is preferably coated with a protective layer 93, preferably a SiO 2 layer (FIG. 3 d).
  • a protective layer 93 preferably a SiO 2 layer
  • the contact points 89,91 are each left by etching or in the lift-off - method.
  • FIGS. 3 and 4 serve exclusively to illustrate the production process and that the layer thicknesses shown do not coincide with the actual layer thicknesses.
  • the diaphragm used in this exemplary embodiment to form the light source can be produced by means of the same method steps as used for producing the light receiver structures and the contacts.
  • the light opening 49 is attached, by further etching or fully etching a point already etched in the first etching process.
  • Non-transparent layers such as the Al layer 51 also have an opening at the same place so as not to hinder the passage of light. In this way, a diaphragm is formed, which advantageously restricts the propagation of the light from the LED 21, or defines the size or dimensions of the light source.
  • the LED can be adhered to the uppermost layer 51 by placing it on a spacer 75 (see also Fig. 12).
  • the spacer 75 provides a defined gap between the substrate 19 and the light source 21. This defines (reliably) a cavity for the adhesive 79.
  • the spacer will be 4 to 50 m high, preferably 6 to 12 pm high, and is preferably formed of permanent resistance
  • the sensor areas are electrically connected to the carrier plate 17 by means of flip-chip mounting.
  • the front side of the light source is also contacted with the metal layer 51, in which conductor tracks not shown in detail are formed (contact point).
  • the thickness of the glass substrate 19 may be about 1 mm. Preferably, the thickness is between 0.4 and 0.6 mm, wherein for high-resolution encoders preferably a glass substrate with a thickness of about 0.16 mm can be used.
  • Fig. 5 shows an arrangement of a plurality of juxtaposed sensor heads on a large
  • Support plate 97 in the form of a wafer.
  • the figure shows the substrates 19 which are mounted on the carrier material 97 by means of flip-chip mounting.
  • the carrier material is a plate of electrically nonconductive material, on which in a previous coating process conductor tracks for the contacting of a plurality of substrates 19 with light receivers and evaluation circuits 47 are applied both on the front and also on the back.
  • the light sources 21 can be previously either directly, e.g. by gluing, applied to the glass substrate 19 or integrated in a recess of the carrier material 97.
  • the rear side of the carrier material 97 can be equipped with the evaluation circuits 47.
  • the assembly of the evaluation circuit 47 can also be done in the flip-chip method.
  • the substrate 19 can be connected to the light receiver elements 23 and the evaluation circuit 47 simultaneously with the carrier plate 17. If the sensor heads 11 or the glass substrates 19 are contacted with the evaluation circuits 47, the encoder function can already be tested. This can be done in an automated process. Only then is the support material 97, which is preferably scored (grooves 98), broken down in carrier plates 17, sawed or by means of a
  • the carrier material is preferably ceramic, in particular black-colored ceramic.
  • indentations 99 are provided, in which pins 96 of a tool can engage. With the help of the indentations 99 and corresponding tools, the carrier material 97 can be precisely aligned during the various process steps. This allows a cost-effective production.
  • an absolute encoder can be constructed in the same construction volume and the same construction. In this case, it takes a movement of less than about 2 °, so that the absolute position can be determined or read on the measuring scale by means of the sensor head.
  • encoders of the Current state-of-the-art technology requires an angular movement of up to 360 ° in order to find an absolute reference point.
  • FIG. 6 shows an encoder 10 with a sensor head 11 and a code disk 155, on the surface of which a material measure (not shown) is arranged.
  • the code disk 155 is connected to a shaft 157 and thereby rotatable.
  • the sensor head 11 and the dimensional unit formed of optical elements (not shown) cooperate to generate a signal.
  • the sensor head 11 in this embodiment, a light source 21, which emits light in the direction of the scale.
  • Mass embodiment are arranged on the sensor head 11 facing side of the code disk 155. They throw the light coming from the light source 21 in bundled form back onto the sensor head 11, where it is registered by the light receiving elements (not shown).
  • the light source may also be disposed on the other side of the code disk 155 and transmit the light through the optical elements to the sensor head 11.
  • the solution shown, in which the sensor head 11 has both one or more light sources and one or more light-receiving elements is preferred.
  • the light receiver elements must be arranged in a defined position relative to the optical elements.
  • the sensor head holder 141 has a first structural element in the form of an opening 149, in which a part of the sensor head 11, can be used accurately, resulting in a positive connection.
  • this part of the sensor head 11 is a transparent substrate 19 to which the light receiver elements are preferably applied by thin-film method. In such methods, a plurality of light-receiving elements is applied to a substrate plate, which is then cut into (smaller) substrates 19.
  • Light receiver elements is determined relative to the edges of the substrates by the precise cutting of the substrate plate.
  • the edge 151 of the substrate 19 can form fit with said opening 149 in
  • the opening 149 is precisely positioned relative to a second structural element, which is here the edge 153 of the sensor head holder 141.
  • Sensor head holder 141 cooperates positively with the inner wall of the housing 143, wherein the
  • Housing 143 is again arranged in a defined position relative to the dimensional scale. That is, the position of the sensor head 11 and the substrate 19 and thus also the position of the light receiver elements relative to the optical elements on the dimensional scale is indirectly determined by a plurality of matched in their dimensions device parts.
  • the advantage is that a mechanical adjustment during assembly is eliminated.
  • the sensor head holder 141 thus acts as an adapter. With respect to the dimensions mentioned or the defined positions are with advantage deviations of less than 0.2 mm, preferably less than 0.05 mm, which is generally sufficient for the correct functioning of the measuring device.
  • the housing 143 is closed by a cover 145 which presses against the sensor head holder 141 and thus fixes it in the housing 143.
  • the housing 143 preferably has between cover 145 and housing 143 an opening through which a contacting of the sensor head 11, for example by means of cable 159, preferably by means of a Flexprints done.
  • This arrangement ensures easy mounting of the sensor head.
  • an adapter for the code disk 155 is provided on the shaft 157.
  • the adapter has a receptacle for the shaft and a radially outwardly extending from the shaft 157 flange 241.
  • the adapter has a
  • Codewheel 155 is in contact with the side of the shaft receptacle remote from the shaft 157 and with the flange 241 of the adapter, it being preferred if the code disc has one or more feet 240 has, which come in the assembled state of the encoder 10 with the flange 241 in contact.
  • the attachment of the code disk 155 on the adapter is preferably carried out by means of adhesive. This arrangement ensures easy mounting of the sensor head.
  • the code disk 155 is preferably adhered to the shaft 157.
  • the code disk through-hole 272 is preferably configured (see Fig. 18) such that one or more channels 275 (e.g., 2-20 or 3-10 pieces) are formed between the code disk and the shaft 157 in which the adhesive fits.
  • Fig. 18 shows a
  • Said tool is advantageously made of a (preferably circular cylindrical) workpiece having a diameter which is 0.02 to 0.2 mm larger than the diameter of the shaft 157.
  • the workpiece can then be placed in several places e.g. be provided by flattening with flat sides which form the flat portions 271 in the preparation of the through hole 272.
  • 1 to 10, in particular 2 to 5 and particularly preferably 3 channels 275 are provided.
  • the code disk and the dimensional standard are preferably made of plastic, preferably for easier visual inspection of black-colored plastic.
  • the material measure is then coated with a metal, preferably with gold or aluminum.
  • a metal preferably with gold or aluminum.
  • an additional Protective layer such as SiO 2 or synthetic resin, are applied.
  • the carrier material may be a plastic on which an aluminum layer and a plastic film are provided as oxidation protection of the aluminum layer.
  • the material measure can be formed by means of hot embossing on the side of the aluminum layer.
  • FIGS. 7, 8 and 9 show different embodiments of measuring scales 25/31 and
  • the analog signals 103a and 103b are processed in an evaluation circuit and optionally in a further processable
  • Digital signal 104 converted.
  • the signals issued by the evaluation circuit serve to determine the position of the material measure relative to the sensor head.
  • the evaluation of the position data can be done by means of an analog or digital signal.
  • Fig. 7 shows an incremental track
  • Fig. 8 the track for the formation of an index which is at least once per
  • Fig. 9 shows another track structure encoded according to the Manchester code, which together with the incremental signal can define an absolute position.
  • the three mentioned tracks can form the measuring standard, which can be integrated on a carrier, such as a code disk, and is preferably manufactured in the same operation as the carrier.
  • the material measure is preferably formed with two tracks, wherein the optical elements of both tracks preferably have the same focal length.
  • the track 25 of the material measure shown in FIG. 7 consists of identical optical elements which are arranged in the direction of movement 15 at regular intervals from one another (incremental track). These are aligned the same or parallel with respect to the principal direction of the light reflected by them.
  • the optical elements are semicircular cylindrical reflectors, which constitute the preferred embodiment in the context of the present invention.
  • the light emitted by the light source is focused by an optical element of the material measure and focused on the sensor plane 100. There, the light hits a point 108.
  • the adjacent regions 107 of the sensor plane is not acted upon or only with little light.
  • the distribution of the light intensity on the sensor plane is represented by the curve 101.
  • the point 101h of the curve corresponds to a high energy density, the point 101t to a low energy density.
  • the electrical conversion of the light intensity into an electrical signal is effected with at least two light receiver elements 23, which are preferably arranged offset from one another by 180 °. That is, whenever the one light receiving element registers a maximum, the other light receiving element registers a minimum, and vice versa.
  • two analog signals 103A + and 103A- are generated, which be forwarded to the evaluation circuit for further processing.
  • the evaluation circuit can then form a digital signal 104 from the analog signals 103.
  • FIG. 8 shows the index track 31 of a graduated mass consisting of a single, approximately semicircular-cylindrical reflector which is centered about the axes 105.
  • the width of this reflector will be between 100% and 300% of the width of a reflector of the incremental track.
  • the light is concentrated substantially at a point 108, the adjacent area 107 being exposed to only little light.
  • the remaining area 109 is subjected to a substantially constant and unmodulated amount of light.
  • the distribution of the light intensity on the sensor plane 100 is represented by the curve 101, wherein the point 101h corresponds to a high energy density and the point 101t to a low energy density.
  • the light receiving elements 23 consist of a main receiver 23Z + and two receivers 23Z- arranged symmetrically to the main receiver 23Z + and electrically connected together.
  • the total area of the light receivers 23Z- is at least 10%, preferably at least 20%, and more preferably at least 30% larger than the total area of the main receiver 23Z +. This is important in connection with the evaluation of the signals. Because the area contents of the two light receiver elements Z + / Z- differ, it can be ensured that the signal 103a is clearly spaced from the signal 103b so that they can not intersect in the remaining area 109 at all. With this light receiver arrangement, two analog signals 103a and 103b are generated, which are further processed in the evaluation circuit. The signals may be e.g. be compared in a comparator circuit, wherein a crossing point of the two signals each one
  • the two signals 103a and 103b intersect with a large slope.
  • the two light receivers Z- should receive less light than normal at point 107, for example. as if the light beam is not modulated, received. This is achieved by the fact that the slanting
  • Light receiver elements are formed at the upper part, ie at the proximal end, slightly wider than at the distal end.
  • the illustrated embodiment of the receivers 23Z + .23Z- having a first elongate light receiving element 23Z + and two second elongated light receiving elements 23Z- arranged substantially mirror image symmetrical and at an angle to the longitudinal axis of the first receiver element 23Z + may be considered optimal.
  • signals 103a and 103b can be formed, which have a large slope in the mutual crossing points, so that a reliable basic signal Zb for the Index signal can be formed.
  • the light-carrier elements Z- ("Z minus") are obliquely arranged opposite to the light-receiving element Z + ("Z plus"). At their ends remote from the light receiving element Z +, the light receiving elements Z- have a width that is much smaller than the width at their ends facing the light receiving element Z +. This optimal arrangement has to do with the fact that during the movement of the index lens (optical element on the scale) in the direction 15, areas of medium, low and high light intensity are moved over the sensor area.
  • the shape of the light receiving elements Z- makes it possible to change the
  • Light intensity does not affect the signal equally in each position of the index lens relative to the sensor area.
  • the light intensity has less effect on the signal than in the central region, i. at the location of the light receiving element Z + and where the wider end of the light receiving element Z- is.
  • Another factor is the distance to the light source. The narrow ends of the light receiving elements Z- are further away from the light source and thereby obtain a lower light intensity.
  • the geometric center of gravity 102b of the two light receiver elements 23Z + and 23Z- preferably coincides at the same point. If the focal points do not coincide, i. If these are spaced from one another, then the level ratio between the two signals 103a and 103b changes as the distance between the measuring graduation 13 and the substrate 19 changes (see Fig. 1). Thanks to the described, advantageous geometric design of the receiver elements 23, the distance between the measuring scale and sensor head can vary within a relatively wide range, without the signal quality would suffer, whereby the rather large tolerance in the axial position of waves can be easily accommodated in small engines. This also has the advantage that complex adjustments are not required. 9 shows a track 31 of the graduation (absolute track). The track includes as shown in Fig.7
  • Incremental track a variety of optical elements, but the optical elements are not all the same or regular or (in terms of their optical axis) are not all aligned in parallel here.
  • Each of the optical elements is configured and / or arranged to focus the light at either a first or a second point on the sensor plane.
  • the two dots represent the 0 (zero) and the 1 (one) of a binary code, respectively.
  • the sequence of zeros and ones (binary digits) defines a code, eg an 8-bit code, in which 8 consecutive binary digits define a characteristic position number, which preferably occurs only once on the dimensional standard or over the length of the mass body. In the present example, one point is to the left of axis 105 and the other to the right.
  • the electrical conversion of the light intensity into an electrical signal is preferably carried out with at least two 180 ° offset from each other light receiving elements 23.
  • two analog signals 103a and 103b are generated, which are supplied together with an incremental signal to an evaluation circuit.
  • the evaluation circuit will use the incremental signal to evaluate the signals 103 such that the bit value of the division is determined and output in a digital signal.
  • two channels (A and B) and per channel two light receiver elements 23 are provided as described above. It should be noted that in FIGS. 7 and 9, for clarity, only the
  • Light receiver elements 23 for a channel are shown.
  • the bit value is read for a given direction of movement of the scale of FIG. 15 at each rising or falling edge of the two incremental signals, preferably at every fourth edge of the two incremental signals (from the channels A and / or B), at that instant the difference between signal 103a and 103b is read.
  • the level of the digital signal 181 is set according to the bit value, or the bit value is output in a different manner. It can also be provided that the reading of the bit value in a direction of rotation or direction of movement of the material measure is carried out, for example, on the falling edge of the channel A and upon rotation or movement of the in the
  • the two incremental signals form 4 edges per division (two analog signals 103a / 103b per channel A / B). Which of these edges is used for the evaluation of the bit value depends ultimately on the placement of the
  • the order of the bit values of the measuring standard is selected such that, given a certain number of consecutive bits, a particular order is repeated only once over the length of the
  • Mass is to be found.
  • the order is preferably formed according to Manchester code.
  • FIG. 10 shows an arrangement of the light receiver elements 23 for a 3-channel encoder (channel A, channel B, channel Z or index), wherein the main axis 45 of the emitted light beam passing through the center of the light source coincides with the center line 43 of the material measure (FIG , 2) covers (see Fig. 1).
  • the sensor area 29 (which with the the first track 25 of the scale embodiment cooperates) are the light receiver elements for the incremental signal and in the sensor region 35 (which cooperates with the second track 31 of the scale) those arranged for the index signal.
  • the "stud bumps" can be arranged on the uppermost metal layer (see Figure 51 in Figure 3a) by ultrasonic welding, for example
  • the same sensor head could also be used for an absolute encoder with Manchester code, in which case the area 25 remains unchanged and in the area 31 at least two receiver elements (such as In order that the encoder is insensitive to mounting tolerances (ie with respect to the centering of the light source and the angular position of the sensor head with respect to the main axis 43 (see Fig.
  • the scale is preferably in relation to the Direction of movement 15 following order of the light receiver elements selected: A + / B- / A- / B + or A- / B + / A + / B-, ie one in B
  • the light receiving elements A +, ⁇ - and B-.B + are each offset by 180 degrees to each other. In this way, both for the channel A and for the channel B two sinusoidal curves offset by 180 degrees to each other are obtained, which are in a
  • Comparator circuit can be converted into a digital signal.
  • the comparatator circuit can be converted into a digital signal.
  • each of the 4 light receiver elements in the sensor region 29 is substantially the same distance from the light source 21 (see line 102).
  • the points 102b each mark the center of gravity of a U-shaped receiver element. In the direction 15, the distances between the centers of gravity 102b should essentially coincide with the division of the material measure.
  • the normal width 114 of a light receiver in the sensor region 29 is preferably selected between 40 and 80% of the width of a graduation of the material measure.
  • width in this context means the dimension of the
  • the width of the light source 21 respectively. the aperture 49 selected between 60 and 150%, preferably 10% to 120% of the width of a division. If the width of the aperture 49 is too small, too little light energy pass through. If the width of the aperture 49 is too large, then the width of the light spot is too large, so that the signals are too shallow to be reliably evaluated.
  • the light source 21 would be constructed as a light-emitting OLED on the substrate 19, and the sensor regions 35 and 29 would have a similar layer structure as the OLED.
  • Both the OLED and the light receiver elements then consist of thin layers, preferably as shown in FIG. 3a, but different starting materials can be used. Fig.
  • FIG. 11 shows another arrangement of light receiver elements, wherein the individual receiver elements via VIAs 112 ("vertical interconnect access") through the passivation layer (eg a SiO 2 layer or a SiO 2 / Si 3 N 4 layer structure) with on the passivation layer applied conductive paths, preferably from
  • the passivation layer eg a SiO 2 layer or a SiO 2 / Si 3 N 4 layer structure
  • the light receiver elements 23 are optimally designed without the transition lines 115 and / or contact points 91 can influence the formation of the analog signals, or without making corrections to the width 114.
  • connection to the TCO layer can also be made by means of the conductive tracks and a VIA 112, whereby pads 111 may be added at the end of the conductive tracks for the secure attachment of a stud bump.
  • FIG. 12 shows a preferred embodiment of the light source consisting of aperture and LED (see FIG. 2).
  • the LED is glued onto the substrate 19 (preferably made of glass) or on the uppermost metal layer (see Fig. 3, 51) as described in Fig. 4c and radiates through the light aperture 49 which is recessed in the thin-film structure.
  • the LED 21 is received in the recess 71 (see Fig. 2) of the support plate 17 (see Fig. 2).
  • Different variants are shown how the light source can be mounted on the substrate 19.
  • Fig. 12a shows the light source with an emission layer 161 and a contact layer 163. Between the light source 21 and the coated one
  • the reference numeral 170 shows the light cone emitted by the light source in the direction of the material measure.
  • FIG. 12b shows an isolated light source, in which the emission layer 161 has a non-transparent edge Cover layer 167 is coated. This can prevent scattered light from falling on the light receiver.
  • the non-transparent cover layer 167 is not applied to the light source 21 but to the light receiver. This cover layer is used in the example as contact 163 to the LED.
  • Other precautions may be that a material that is opaque or low is chosen as the underfill
  • Fig. 13 shows a circuit with which mounting errors with respect to the angular position 41 (see Fig. 1) of
  • Sensor head can be compensated with respect to the main axis of the scale, so that the index signal can function reliably regardless of such an angle error.
  • the selection of the edge of the incremental signal for the determination of the bit value depends on the placement of the sensor head or the rotation of the same by the angle 41. The circuit can thus be used to determine these edges.
  • Fig. 13a shows the signals A, B, Zb and Z.
  • Signal Z is formed from the combination of the signals A and B and Zb.
  • a and B respectively correspond to a digital signal 181 (see Fig. 9, only signal shown for one channel), where signal A is from channel A and signal B is from channel B.
  • the signal Z shown in this Fig. 13a consists of two pulses, which is basically not desirable.
  • FIG. 13b By recombining the original signals A and B, other signal states Aout (or Ao) and Bout (or Bo) are generated in FIG. 13b, whereby the signal Zb is almost centric to the region of the signals A and B in the plus.
  • the resulting signal Z thus consists of a single pulse.
  • the two channels A and B of Fig. 13b are for the channel A from the inverted input channel B and for the channel B from the input channel A.
  • the combination of the signals from channel Aout and channel Bout and channel Zb forms an index signal Z with a single pulse.
  • Further signal combinations are shown in the truth table 13c.
  • the signal processing according to the truth table can be done by the illustrated circuit (FIG. 13d).
  • the circuit is controlled by two control signals X1 and X2.
  • the signals Ain 200 and Bin 201 are inverted by two inverters 206, 207.
  • the circuit additionally contains 4 mutliplexers 208 which, depending on the state of the control signals X1, X2, pass on one of the two signals in the input to the respective output.
  • the control signals X1 and X2 are generated in the evaluation circuit.
  • the Evaluation circuit is designed so that various settings or values for the control signals can be programmed, which can be done at the final inspection of the product.
  • a special construction of an absolute encoder is shown schematically, which can determine an absolute position signal even when lying still sensor head 11 or idle shaft 157, or in cold start.
  • the device has a pivot arm 182 (or equivalent) on which the at least one sensor head is mounted.
  • the swing arm is driven by a motor and generates a relative movement between the scale 13 and the sensor head 11, which corresponds to a fraction, preferably less than 5 degrees, of a complete revolution.
  • the absolute position can be determined. This is in turn possible thanks to the compact design of the sensor head and the tolerance-friendly design of this arrangement.
  • FIG. 14 shows the schematic structure of the absolute encoder with a housing 143, 145, a mounted shaft 157, a code disk 155 with a measuring graduation 13, preferably with an absolute track according to FIG. 9, and an incremental track according to FIG. 7, a fixed or pivotable about a small angle Carrier 182, on which at least one sensor head 11 is mounted.
  • the code disk 155 is mounted centrally on a shaft 157, which shaft cooperates in a form-locking manner in a housing 143 with at least one bearing 180.
  • a position number can be determined, with which an (absolute) position value of the code disk can be determined. Thereafter, the determination of the position value can be determined either by counting down (addition / subtraction) of the pulses from the incremental track or by determining further position numbers.
  • a redundant recording of the position values can be easily realized by combining both variants.
  • the Manchester code is read with one or more pairs of receiver elements (see Figure 9).
  • a position number is determined between 1 and a maximum number of position numbers by a movement of the material measure in relation to the sensor head.
  • the length of the position number expressed in binary form, is the number of bits determined by the length of the scale.
  • the position number is determined by reading a number of consecutive bits.
  • a position number is by the after the
  • Manchester code defines a well-defined measure. For the entire length of the scale, the position numbers are singular, i. determine the position of the dimensional scale relative to the light receivers.
  • the conversion of the read position number into a position value is done with the evaluation circuit.
  • the position number is preferably transmitted by means of digital signal 181 and by a conversion circuit 187 in a
  • the conversion circuit 187 can be integrated in the evaluation circuit 47 (see also FIG. 2) be.
  • a redundant determination of the position values can protect against read errors by registering several consecutive position numbers. This means that an "extended" position number is actually recorded, and the extended position number is converted into several position values
  • Position values can not be arranged in a row, then this would indicate a read error of the manchester code.
  • Fig. 14 an arrangement is shown in which the conversion circuit 187 is arranged outside the sensor.
  • the conversion circuit 187 is connected to 3 lines 186 with the encoder, or its
  • Evaluation circuit connected (schematic representation). Two lines transmit the pulses from channels A and B (digital signal 104) and the third line a digital signal 181 which maps the position numbers of the absolute track. Thus, position information is transmitted redundantly between encoder 10 and conversion circuit 187. This ensures secure transmission of the position numbers and determination of the position values.
  • the conversion coil 187 transfers by means of a conventional data bus 189, e.g. SPI, I2C, Profibus, etc., the data, for example, to a PLC control.
  • the conversion circuit 187 preferably includes a microprocessor 188 which translates the position numbers into position values. The translation of the position number into a position value can be done in two ways:
  • a Manchester code generator successively forms position numbers; if one of the translating
  • Position numbers from the material measure corresponds to the generated position number
  • the position number of the generator is output as the position value
  • a table is provided in the microprocessor containing position values, each location in the table or each position value being associated with a particular position number, whereby position numbers can be assigned to particular position values.
  • a disadvantage of conventional encoder systems with Manchester code is that for the determination of the absolute position, a relative movement of the material measure, and thus a movement of the machine parts to be measured is necessary to determine the absolute position values. This is not appreciated by the machine builder.
  • a further embodiment of the invention is therefore that means are provided which allow movement of the sensor head relative to the material measure internally in the sensor, so that at the touch of a button determination of the position value is possible without the machine must be set in motion. This is achieved by the sensor head or the carrier (for example a swivel arm 182) on which the sensor head is arranged being rotated by approximately 3 °.
  • Figs. 15 to 17 show a position measuring device.
  • This is a kit encoder 10. which has a particularly compact design.
  • This design is characterized by a specific arrangement of the code disk 155, the scale body 13, the housing 143 and the sensor head 11 mounted thereon, which cooperates with the dimensional standard 13 to generate a signal.
  • the material measure 13 is located here on that side 249 of the code disk 155, which faces away from the housing 143.
  • What is meant here is preferably a part of the housing 143 extending along or substantially parallel to the flat side of the code disk 155 and / or the upper part of the housing 143.
  • the code disk 155 the scale body 13
  • the housing 143 and the sensor head 11 mounted thereon, which cooperates with the dimensional standard 13 to generate a signal.
  • the material measure 13 is located here on that side 249 of the code disk 155, which faces away from the housing 143.
  • What is meant here is preferably a part of the housing 143 extending along or substantially parallel to
  • Codewheel 155 between the inside of the housing 143 (or the inside of said part of the housing) and the sensor head 11 or the circuit board 251 arranged.
  • Massver analysesung 13 and sensor head 11 next to the shaft or the shaft receiving 267 is arranged.
  • the position of the code disk 155 relative to the above-mentioned, parallel part of the housing 143 and the distance between the inside of the housing 143 and the code disk 155 can be determined by the said parallel part of the housing 143 pressed or
  • the material of the housing 143 may be thinner or more elastic on said part parallel to the code disk 155 than on parts adjacent thereto.
  • the sensor head 11 is mounted on a printed circuit board 251 which cooperates positively with the housing 143.
  • the circuit board 251 can constructively take over the function of the carrier plate.
  • a very simple mounting of the encoder 10 can be accomplished by the use of an adapter part 255, which has a first connection means 257 and a second connection means 259.
  • the first connecting means 257 is preferably used to Adapter part 255 with respect to the shaft centric to the motor 243 and can for example consist of screws.
  • the second connection means 259 is advantageously a snap connection 259, which is formed, for example, by one or more projections 261 and one or more depressions 263. Projections 261 and depressions 263 can be arranged on the housing (in particular on the housing inner wall) and / or on the adapter part 255. Preferably, it is a detachable connection.
  • the housing 143 has an assembly bearing 265 into which the code disk 155 and / or a receptacle 267 connected to the code disk 155 can be accommodated for a shaft. The latter, because the code disk 155 and the
  • Shaft receptacle 267 may be formed either in one piece, which is preferred, or may just represent interconnected items.
  • the assembly bearing 265 has the function of keeping the code disk centric to the housing during the assembly process.
  • the bearing itself may be a ball bearing or a slide bearing made of Teflon, the latter being preferred, since the rotation of the motor shaft is not loaded by such a bearing.
  • the function of the mounting bearing is to ensure an accurate alignment of the code disk and the sensor head (see axis 22 in Figure 1).
  • the bearing material Teflon has the advantage of a low coefficient of friction and a particularly pronounced creep behavior, whereby the bearing function in the assembled state is lost over time. This is desirable insofar as the assembly warehouse should lose its storage function after assembly, so that the existing storage system learns no additional adverse burden.
  • a rigid bearing e.g., ball bearing
  • the radius of the code disk 155 is preferably smaller than the radius of the circuit board 251.
  • the code disk 155 can be made smaller and it remains space eg for the below-mentioned cable or the indentation 273.
  • the housing 143 and / or the printed circuit board 251 and / or the code disk 155 and / or the connecting means 253 and / or 259 are preferably made of plastic. A particularly compact design is also achieved when the
  • This opening 269 is advantageously arranged on the side facing away from the code disk 155 side of the sensor head 11 and / or the circuit board 251.
  • the contacting can thus be done on the underside of the sensor head 11 or - when the sensor head 11 is contacted via the printed circuit board 251 - on the underside of the printed circuit board 251.
  • Said contacting can be accomplished via one or more cables 159, which pass through the opening 269 into the housing 143. It is preferable to a flat cable 159 as shown in the figures, with a Flexprint can be used.
  • the opening 269 therefore advantageously has an elongated shape and is preferably arranged substantially parallel to the code disk 155 and / or to the printed circuit board 251.
  • the flat cable 159 is also aligned accordingly. If the housing 143 on a side 245 has a recess 273, which adjoins the opening, this is particularly advantageous.
  • the indentation of the opening extends along the side 245 of the housing 143 to another side 247 or to an edge of the housing 143 or to an edge of the housing 143.
  • the indentation 273 can extend from the opening 269, for example, to the upper side 245 of the housing 143.
  • the cable 159 may thus be positioned in the recess 273.
  • the cable 159 is so preferably within the cylinder radius. Furthermore, it is advantageous if the position measuring device, or the encoder 10 has one or more of the features, as described in other parts of this document. In particular, the design of the sensor head 11 and the dimensional standard may be mentioned.
  • a dimensional scale preferably has at least two tracks, one track being an incremental track, and a second track preferably being either an index track or a coded track, as described in this document.
  • Fig. 17 together form a device component which can be checked or tested at the factory prior to delivery. Together with the connecting means 255 (see Fig. 15), said device component forms an assembly kit which can be attached, for example, to a motor without any special effort.
  • FIG. 18 shows an advantageous connection technique for attaching a code disk 155 to a shaft 157.
  • the code disk has a through hole 272 having a specific shape, for example, a cylindrical shape having preferably 3 (or more) flat portions 271.
  • the code disk is centered on the shaft 157 by inserting the shaft 157 into the through hole 272.
  • Fabric code disc on a metal shaft is not so easy considering the requirements for concentricity and interference fit. Excessive interference can cause the plastic disc to break. This can also happen only after a certain period of time, that is, for example, several months after assembly.
  • the run-out tolerance directly affects the quality of the encoder function. This arrangement is particularly advantageous for the toolmaker. Thus, he can accurately adjust the centering of the parts by flat grinding on the tool punch.
  • the free spaces or channels 275 provide space for adhesive, which in combination with a very slight press fit can avoid the risk of cracks and ensures a secure connection between the two parts.
  • Remaining area i.e., without areas 107 and 1028

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  • Condensed Matter Physics & Semiconductors (AREA)
  • Electromagnetism (AREA)
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Abstract

L'invention concerne un dispositif de mesure de position, en particulier un codeur, équipé : - au moins d'un étalon ayant une structure optique, de préférence un agencement de réflecteurs 3D, - au moins d'un récepteur de lumière disposé à distance de l'étalon, - d'une source de lumière disposée à distance de l'étalon et à distance du récepteur de lumière, et - au moins d'un substrat transparent présent entre l'étalon et le récepteur de lumière, le récepteur de lumière étant déposé sur le côté du substrat opposé à l'étalon sous forme d'une structure de couches minces composée de plusieurs couches disposées les unes au-dessus des autres directement sur le substrat transparent. Le dispositif de mesure est caractérisé - en ce qu'il comporte une plaque de support dotée de tracés conducteurs, sur laquelle est disposé le substrat, le substrat transparent et la plaque de support étant reliés solidairement entre eux par un montage Flip-Chip, - en ce que l'étalon comporte deux pistes ou plus ayant des éléments optiques, une première piste servant à générer un signal incrémental, et - en ce que chaque récepteur de lumière est réalisé en tant que zone détectrice, composée d'une pluralité d'éléments récepteurs de lumière, au moins une première et une deuxième zone détectrice étant prévues, la première zone détectrice étant réalisée pour coopérer avec la première piste afin de générer un signal incrémental et la deuxième zone détectrice étant réalisée pour coopérer avec une deuxième piste qui est une piste codée.
EP11748874.2A 2010-08-19 2011-08-19 Dispositif de mesure de position et procédé de détermination d'une position absolue Withdrawn EP2606314A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CH01342/10A CH703663A1 (de) 2010-08-19 2010-08-19 Positionsmessvorrichtung, insbesondere Encoder.
CH01341/10A CH703647A1 (de) 2010-08-19 2010-08-19 Positionsmessvorrichtung und Verfahren zu deren Herstellung.
CH01343/10A CH703664A1 (de) 2010-08-20 2010-08-20 Positionsmessvorrichtung, insbesondere Encoder, mit Sensorkopfhalter.
PCT/CH2011/000186 WO2012022001A2 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position et procédé de détermination d'une position absolue

Publications (1)

Publication Number Publication Date
EP2606314A2 true EP2606314A2 (fr) 2013-06-26

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ID=45604666

Family Applications (4)

Application Number Title Priority Date Filing Date
EP11748877.5A Withdrawn EP2606317A1 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position
EP11748874.2A Withdrawn EP2606314A2 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position et procédé de détermination d'une position absolue
EP11748875.9A Not-in-force EP2606315B1 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position
EP11748876.7A Withdrawn EP2606316A1 (fr) 2010-08-19 2011-08-19 Support de tête de capteur

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EP11748877.5A Withdrawn EP2606317A1 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position

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Application Number Title Priority Date Filing Date
EP11748875.9A Not-in-force EP2606315B1 (fr) 2010-08-19 2011-08-19 Dispositif de mesure de position
EP11748876.7A Withdrawn EP2606316A1 (fr) 2010-08-19 2011-08-19 Support de tête de capteur

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US (4) US8902434B2 (fr)
EP (4) EP2606317A1 (fr)
JP (4) JP2013534318A (fr)
CN (4) CN103119402B (fr)
WO (4) WO2012022001A2 (fr)

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JP2013534318A (ja) 2013-09-02
JP2013535695A (ja) 2013-09-12
EP2606316A1 (fr) 2013-06-26
WO2012022003A1 (fr) 2012-02-23
JP2013539019A (ja) 2013-10-17
US20130155420A1 (en) 2013-06-20
EP2606315B1 (fr) 2019-01-09
US20130146755A1 (en) 2013-06-13
JP2013534319A (ja) 2013-09-02
CN103210283A (zh) 2013-07-17
US20130148132A1 (en) 2013-06-13
CN103168212B (zh) 2016-03-09
WO2012022004A1 (fr) 2012-02-23
JP6071881B2 (ja) 2017-02-01
US20130148131A1 (en) 2013-06-13
EP2606315A1 (fr) 2013-06-26
CN103168212A (zh) 2013-06-19
CN103080700A (zh) 2013-05-01
US8902434B2 (en) 2014-12-02
WO2012022001A2 (fr) 2012-02-23
CN103119402A (zh) 2013-05-22
EP2606317A1 (fr) 2013-06-26
WO2012022001A3 (fr) 2012-07-05
CN103119402B (zh) 2016-08-03
WO2012022002A1 (fr) 2012-02-23
US8982361B2 (en) 2015-03-17

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