JP7272075B2 - エンコーダー、モーター及びロボット - Google Patents
エンコーダー、モーター及びロボット Download PDFInfo
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- JP7272075B2 JP7272075B2 JP2019073589A JP2019073589A JP7272075B2 JP 7272075 B2 JP7272075 B2 JP 7272075B2 JP 2019073589 A JP2019073589 A JP 2019073589A JP 2019073589 A JP2019073589 A JP 2019073589A JP 7272075 B2 JP7272075 B2 JP 7272075B2
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- 238000001514 detection method Methods 0.000 claims description 42
- 239000000758 substrate Substances 0.000 claims description 14
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- 230000003287 optical effect Effects 0.000 description 12
- 239000012636 effector Substances 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
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Classifications
-
- 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
- G01D5/02—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 mechanical means
- G01D5/04—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 mechanical means using levers; using cams; using gearing
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/443—Devices characterised by the use of electric or magnetic means for measuring angular speed mounted in bearings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
図1は本実施形態のロボットの構成の一例を示す図である。
図1に示すように、ロボット1は、基台2と、可動部3と、制御装置4と、を備える。
基台2は、可動部3支持する。基台2は所定の設置面100に設けられている。設置面100は、例えば、ロボット1に作業を行わせる部屋の床面である。なお、設置面100は、当該床面に代えて、当該部屋の壁面、当該部屋の天井面、テーブルの上面、治具が有する面、台が有する面等の他の面であってもよい。
本実施形態において、凹部22a2は「凹部」に相当する。
続いて、第二実施形態のモーターについて説明する。本実施形態と上記実施形態との違いはエンコーダーの構成であり、それ以外は共通である。そのため、以下では上記実施形態と共通の部材及び構成については同じ符号を付し、説明については省略する。
本実施形態においても、図7に示される副軸歯車22、磁石32及びベアリング42を例に挙げて、これら副軸歯車22、磁石32及びベアリング42のベース部20に対する取り付け構造を説明する。
上述した実施形態のエンコーダー11,11Aでは、ベース部20の保持部25の下側に主軸歯車21及び副軸歯車22、23、24が配置される場合を例に挙げた。すなわち、主軸歯車21及び副軸歯車22、23、24が磁気検出基板12よりも下側に配置される構成を説明したが、本発明はこれに限定されない。本発明のエンコーダーは、ベース部20の保持部25の上側に主軸歯車21及び副軸歯車22、23、24が配置される場合、すなわち、主軸歯車21及び副軸歯車22、23、24が磁気検出基板12よりも上側に配置される形態についても適用可能である。
Claims (6)
- ベース部と、
回動する軸部に取り付けられる主軸歯車と、
前記主軸歯車と噛み合う歯車部分および支持部分を有する副軸歯車と、
前記副軸歯車に設けられる磁石と、
前記ベース部に設けられて前記軸部を支持する、環状の第1軸受部材と、
前記ベース部に設けられて前記副軸歯車の前記支持部分を支持する、環状の第2軸受部材と、
前記磁石による磁界の変化を検出する磁気検出基板と、を備え、
前記軸部に沿って延びる直線を第1軸とし、前記第1軸と直交する直線を第2軸とした場合において、前記第2軸が延びる方向から平面視したときに、前記磁石は前記歯車部分および前記第2軸受部材の少なくとも一方と重なる部分を有して配置され、
前記ベース部は、前記磁気検出基板と前記副軸歯車との間に配置された保持部と、前記保持部の前記第1軸に沿う方向の一方側である第1面側に設けられ前記第1軸受部材を支持する保持する第1凹部と、前記保持部の前記第1軸に沿う方向の他方側である第2面側に設けられ前記第2軸受部材を保持する第2凹部と、を有し、
前記磁気検出基板が配置される第1空間と、前記主軸歯車および前記副軸歯車が配置される第2空間とは、少なくとも前記ベース部の前記保持部によって隔てられる
エンコーダー。 - 前記副軸歯車の前記支持部分は、凹部を有し、
前記磁石は、前記凹部に配置されている
請求項1に記載のエンコーダー。 - 前記副軸歯車の前記歯車部分は、凹部を有し、
前記磁石は、前記凹部に配置されている
請求項1に記載のエンコーダー。 - 前記磁気検出基板は前記ベース部に設けられている
請求項1ないし3のいずれか一項に記載のエンコーダー。 - 請求項1ないし4のいずれか一項に記載のエンコーダーを備える
モーター。 - 請求項5に記載のモーターを備える
ロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019073589A JP7272075B2 (ja) | 2019-04-08 | 2019-04-08 | エンコーダー、モーター及びロボット |
US16/841,749 US11506679B2 (en) | 2019-04-08 | 2020-04-07 | Encoder, motor, and robot |
CN202010265653.8A CN111795709A (zh) | 2019-04-08 | 2020-04-07 | 编码器、马达及机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019073589A JP7272075B2 (ja) | 2019-04-08 | 2019-04-08 | エンコーダー、モーター及びロボット |
Publications (3)
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JP2020173115A JP2020173115A (ja) | 2020-10-22 |
JP2020173115A5 JP2020173115A5 (ja) | 2022-03-16 |
JP7272075B2 true JP7272075B2 (ja) | 2023-05-12 |
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JP2019073589A Active JP7272075B2 (ja) | 2019-04-08 | 2019-04-08 | エンコーダー、モーター及びロボット |
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Country | Link |
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US (1) | US11506679B2 (ja) |
JP (1) | JP7272075B2 (ja) |
CN (1) | CN111795709A (ja) |
Families Citing this family (2)
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DE102018214601A1 (de) * | 2018-08-29 | 2020-03-05 | Skf Motion Technologies Ab | System zum Erfassen der Position einer Lineareinheit eines Linearsystems |
JP7480687B2 (ja) * | 2020-11-26 | 2024-05-10 | セイコーエプソン株式会社 | エンコーダーユニット、駆動装置およびロボット |
Citations (5)
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JP2006234573A (ja) | 2005-02-24 | 2006-09-07 | Tokai Rika Co Ltd | 回転角度検出装置 |
JP2014115234A (ja) | 2012-12-12 | 2014-06-26 | Iai Corp | 機械式アブソリュートユニットと機械式アブソリュートエンコーダとアクチュエータ |
JP2017215148A (ja) | 2016-05-30 | 2017-12-07 | セイコーエプソン株式会社 | エンコーダー、モーター、及びロボット |
JP2018136257A (ja) | 2017-02-23 | 2018-08-30 | セイコーエプソン株式会社 | 光学スケールユニット、光学スケールユニットの製造方法、エンコーダー、駆動装置、ロボットおよびプリンター |
WO2019059173A1 (ja) | 2017-09-19 | 2019-03-28 | ミネベアミツミ株式会社 | 角度検出装置、回転量特定ユニットおよび回転駆動ユニット |
Family Cites Families (15)
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KR100539027B1 (ko) * | 2002-10-18 | 2005-12-26 | 현대모비스 주식회사 | 차량의 조향각 검출 장치 |
CN1929063A (zh) * | 2005-09-07 | 2007-03-14 | 索尼株式会社 | 旋转编码器及驱动装置 |
JP4519927B2 (ja) * | 2008-05-20 | 2010-08-04 | アルプス電気株式会社 | 回転角検出装置 |
US20110207578A1 (en) * | 2010-02-23 | 2011-08-25 | Avago Technologies Ecbu (Singapore) Pte, Ltd. | Harmonic Gear Multi-Turn Encoder |
JP5750325B2 (ja) * | 2011-07-15 | 2015-07-22 | 山洋電気株式会社 | エンコーダ |
CN102749026B (zh) * | 2012-07-10 | 2015-01-21 | 万向钱潮(上海)汽车***有限公司 | 一种绝对式多圈转动角度的检测装置及方法 |
JP6311130B2 (ja) * | 2013-07-10 | 2018-04-18 | パナソニックIpマネジメント株式会社 | 回転角度検出装置 |
JP6371114B2 (ja) * | 2014-05-20 | 2018-08-08 | 愛三工業株式会社 | 回転角度検出装置 |
CN206627126U (zh) * | 2017-03-28 | 2017-11-10 | 台达电子工业股份有限公司 | 编码器 |
TWM545245U (zh) * | 2017-03-28 | 2017-07-11 | 台達電子工業股份有限公司 | 編碼器 |
JP2019077008A (ja) * | 2017-10-26 | 2019-05-23 | セイコーエプソン株式会社 | スカラロボット |
JP7118628B2 (ja) * | 2017-12-01 | 2022-08-16 | キヤノン株式会社 | ロボット装置、およびロボット装置の制御方法 |
JP2019203772A (ja) * | 2018-05-23 | 2019-11-28 | ファナック株式会社 | 多回転アブソリュート型回転角検出装置及びギア |
CN208187419U (zh) * | 2018-06-07 | 2018-12-04 | 深圳布瑞特科技有限公司 | 一种多圈绝对值编码器 |
JP6770033B2 (ja) * | 2018-09-06 | 2020-10-14 | ファナック株式会社 | エンコーダの回転部材の取り付け構造およびエンコーダの回転部材の取り付け方法 |
-
2019
- 2019-04-08 JP JP2019073589A patent/JP7272075B2/ja active Active
-
2020
- 2020-04-07 US US16/841,749 patent/US11506679B2/en active Active
- 2020-04-07 CN CN202010265653.8A patent/CN111795709A/zh active Pending
Patent Citations (5)
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JP2006234573A (ja) | 2005-02-24 | 2006-09-07 | Tokai Rika Co Ltd | 回転角度検出装置 |
JP2014115234A (ja) | 2012-12-12 | 2014-06-26 | Iai Corp | 機械式アブソリュートユニットと機械式アブソリュートエンコーダとアクチュエータ |
JP2017215148A (ja) | 2016-05-30 | 2017-12-07 | セイコーエプソン株式会社 | エンコーダー、モーター、及びロボット |
JP2018136257A (ja) | 2017-02-23 | 2018-08-30 | セイコーエプソン株式会社 | 光学スケールユニット、光学スケールユニットの製造方法、エンコーダー、駆動装置、ロボットおよびプリンター |
WO2019059173A1 (ja) | 2017-09-19 | 2019-03-28 | ミネベアミツミ株式会社 | 角度検出装置、回転量特定ユニットおよび回転駆動ユニット |
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Publication number | Publication date |
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CN111795709A (zh) | 2020-10-20 |
US20200319224A1 (en) | 2020-10-08 |
JP2020173115A (ja) | 2020-10-22 |
US11506679B2 (en) | 2022-11-22 |
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