JPS6021411A - Optical rotary encoder - Google Patents
Optical rotary encoderInfo
- Publication number
- JPS6021411A JPS6021411A JP12982883A JP12982883A JPS6021411A JP S6021411 A JPS6021411 A JP S6021411A JP 12982883 A JP12982883 A JP 12982883A JP 12982883 A JP12982883 A JP 12982883A JP S6021411 A JPS6021411 A JP S6021411A
- Authority
- JP
- Japan
- Prior art keywords
- slit
- light
- disk
- rotating
- rotary encoder
- 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.)
- Pending
Links
- 230000003287 optical effect Effects 0.000 title claims description 11
- 235000009508 confectionery Nutrition 0.000 claims description 6
- 238000003754 machining Methods 0.000 abstract 2
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 206010028813 Nausea Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008693 nausea Effects 0.000 description 2
- 241001143500 Aceraceae Species 0.000 description 1
- 241000951471 Citrus junos Species 0.000 description 1
- 235000014443 Pyrus communis Nutrition 0.000 description 1
- 102100025490 Slit homolog 1 protein Human genes 0.000 description 1
- 101710123186 Slit homolog 1 protein Proteins 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000028327 secretion Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
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
- G01D5/26—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
- G01D5/36—Forming the light into pulses
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
Abstract
Description
【発明の詳細な説明】
〔技術分野〕
本発明は、計淑１］、制御等のためのサーボ七−夕や工
作穢械等の位置決め機構に使用する光学式ロータリーエ
ンツー夕に闇するものである。[Detailed Description of the Invention] [Technical Field] The present invention relates to an optical rotary encoder used in a positioning mechanism of a servo control device, a machine tool, etc. for control, etc. It is.
一般に、検出軸に１８８ＩＩ足された回転板と、この回
転板に付されたマーク（スリット）を航み収る手段を有
し、回転体の回転位ヒイ＋ｌＪｋ検出するものｔロータ
リーエンコータという。この役員に光を利用するものが
光字式０−タリーエンコータであリ、これには、透過光
？利用する透過型と反射光を利用する反射梨とがある。In general, a rotary encoder is a rotary encoder that has a rotating plate added by 188 II to the detection axis and a means for accommodating marks (slits) made on the rotating plate, and detects the rotational position of the rotating body. The thing that uses light for this officer is the optical type 0-tally encoder, which uses transmitted light? There are two types: a transmissive type that uses reflected light, and a reflective type that uses reflected light.
透過型ロータリーエンコークは、第１図のように、多数
のスリット（１）、ｒ自する回転スリット円＆（２）と
、この回転スリット円板（２）のスリット＋１１と直な
シ合うように位置決めした固定スリット板（３）とをは
さんで発光菓子（４）と受光素子（５）とｋＷ、け、ス
リット＋１１と固定スリット板（３）のスリット（６）
とｔ光が通過するかどうかにより位＋？、−７（ｄ号を
得る。一方、反射梨ロータリーエンコータは、第２図の
ように、多数の反射面（７）を勺する回転円板（８）の
一方何につむ光菓子（４）および受光素子＋５）葡設け
、回転円板（８）の反射面（７）からの反射光ンＩｌ！
ｌｌ疋スリット板（３）を介して受光することによって
位置債５３ｋＷでいる。これらの光学式〇−タリーエン
コータは、位置検出の分解能は、回転スリット円板（２
）のスリット＋１）の数又は回転円板（８）の反射間（
７）の数によって決１す、面分解能にするためには、ス
リットｔｌｌ又は反射面（７）の数？多くしなけｎはな
らないが、〃ロエ上の精度の問題からエンツータ目坏が
大型イじするイ唄゛向にある。As shown in Fig. 1, the transmission type rotary encoder has a large number of slits (1), a rotary slit circle & (2), and a rotary slit circle (2) that aligns directly with the slit +11 of the rotary slit disk (2). The fixed slit plate (3) positioned at
+? depending on whether the light passes through or not. , -7 (number d).On the other hand, as shown in Fig. 2, the reflective pear rotary encoder has a rotating disk (8) that holds a large number of reflective surfaces (7), and one side of the rotary disk (8) that wraps around a light confectionery (4). ) and light-receiving element +5), reflected light from the reflective surface (7) of the rotating disk (8) Il!
By receiving the light through the slit plate (3), the power output is 53kW. These optical type Tally encoders have a position detection resolution of a rotating slit disk (2
) + 1) number of slits or between reflections of rotating disk (8) (
Determined by the number of slits or reflective surfaces (7) in order to obtain surface resolution. Although it is not necessary to do a large number of songs, due to accuracy problems on the Roe scale, it is recommended that the Entsuta Mechanism be used in large format for singing.
本発明の目的とするところは、スリット又は反射面の牧
を多くすることなく品分解能を得るようにし、加工精Ｋ
を高める必要性？なくして小型にすることにある。It is an object of the present invention to obtain high resolution without increasing the slit or reflective surface area, and to improve processing accuracy.
Is it necessary to increase The goal is to eliminate it and make it smaller.
夾施例
第６図は２１目式ｔボし、（２）は回転スリット円板で
、２柚の環状のスリットタｌｊ （９１、（１０） ’
ｃ Ｒけ、それらは第４図のように、互いに１８０°の
位１１：１ｍ ｋ有゛する。固定スリット板（３）には
、回転スリット円板（２）の２楓の環状のスリットタ！
Ｉｔ９１、＋１０１が共に入る長さで同一ピッチのスリ
ット（６）が設けてあり、史に、９０Ｑの位相差が得ら
れるようにスリット部（６ａ）、（６ｂ）か設けである
。受光素子（５ａ）〜（５ｄ）は回転スリット円板（２
）の環状のスリット列［９）、＋ＩＬＩＩおよび固定ス
リット板（３）のスリット部（６ａ）、（６ｂ）に対し
するだけ設け、４Ｂ光紮子（＋］ Ｉ−ｔ １ 個又は
受光素子（５ａ）〜（５ｄ）に七ねそれ対間して設ける
。Example 6 shows a 21-mesh type t-bore, (2) is a rotating slit disk, and 2 yuzu annular slits (91, (10) '
cR, they are 11:1mk at 180° from each other as shown in FIG. The fixed slit plate (3) has two circular slits on the rotating slit disk (2).
A slit (6) with the same pitch and a length that accommodates It91 and +101 is provided, and the slit portions (6a) and (6b) are provided so as to obtain a phase difference of 90Q. The light receiving elements (5a) to (5d) are mounted on a rotating slit disk (2
) are provided only for the annular slit row [9), +ILII and the slit portions (6a), (6b) of the fixed slit plate (3), and one 4B optical ligature (+) I-t or one light receiving element ( 5a) to (5d) are provided in pairs.
発光素子（４）から発せらｎた光ｈ１回回転リット円板
（２）の環状のスリット列ｔ９）％ （ｌυ）を通過し
て固定（３）
スリット板（３）に至る。そして、（ロ）定スリット板
好スリット都（６ａ）、（６ｂ）？ｒ辿泌する元はここ
で変−θされ、受光素子（５）によって嘔気１日号に変
（朶さｎる。こりとき得られる党議の賦化は第５図（ａ
）〜（ｄ）のようになる。そして、第５凶（ａ）と（ｂ
）、および（Ｃ）と（ｄ） ’ｚ合１メしたもの？第５
凶（ｅ）、（ｆ）にボす。したがって、１相につき、従
来のものより２倍のパルスｋ＜ ｋ Ｔｌｊることかで
きる。第す凶（ｅ）、（ｆ）′？ｃハルス化して第５図
（ｇ）、（ｈ）とし、こｎ７図外の微分商ｈ１＊ Ｊｌ
ｕ Ｌ、て合成することにより第す図（ｉ）のように、
８１ｉ’ｒのパルス會得ることができる。ここで、微分
回ｌｌ査は時疋奴を最商周波牧の周期の１／壬以下に設
定ツーるもの、又は’ｒ Ｔ Ｌでモノマルチバイづレ
ータ、あるいはオペアンプｋＷ用する。以上のようにし
て、スリット巾ン小さくすることなく８１６の出力ｔイ
せることができる。丈に、上述の場倚と便に、ｌＩ！Ｊ
１足スリット板（３）に１８０°位相差を何する２種の
スリット列を吠け、回転スリット円板（２）に１個の環
状スリット？設けた場合も”Ｊ ｔｋである。Light emitted from the light emitting element (4) passes through the annular slit row t9)% (lυ) of the rotating lit disk (2) once and reaches the fixed (3) slit plate (3). And (b) constant slit board good slit capital (6a), (6b)? The origin of the secretion is changed here by -θ, and the light receiving element (5) changes it to the nausea 1st issue (see below).
) to (d). And the fifth evil (a) and (b
), and (C) and (d) 'z and 1 m? Fifth
I beat (e) and (f). Therefore, it is possible to generate twice as many pulses k<k Tlj per phase as in the conventional case. The first evil (e), (f)'? Figure 5 (g) and (h) are converted into c Hals, and the differential quotient h1* Jl outside this figure 7 is
By synthesizing u L, as shown in Figure (i),
A pulse meeting of 81i'r can be obtained. Here, in the differential circuit, the time limit is set to less than 1/1 of the period of the maximum quotient frequency, or a monomultiplier or an operational amplifier kW is used. In the manner described above, the output of 816 can be reduced without reducing the slit width. In terms of length and the above-mentioned circumstances, lI! J
Two types of slit rows with a 180° phase difference are placed on the single slit plate (3), and one annular slit is placed on the rotating slit disk (2). Even if it is provided, it is "J tk".
第２実施例
第６図において、（３）は一定スリット板で、第７図の
ように、互いに１８０°の位相差？有する２種のスリッ
ト列Ｈ、０２１’；ｒ Ｒけ、回転スリット円板（２）
にはスリ・シト列が反射面（＋３）で、能の部分が反射
し々いように環状スリット（１４ｊが設けである。発光
菓子（４）からの光は、（ロ）定スリット板（３）のス
リット列（Ｉｔ） ｋ通過し、回転スリット円板（２）
の反別ｒｍｕ３＋で反射し、画定スリツト板（３）のス
リット列（＋２１ ”；ｃ 皿して受光素子（５）で交
光される。このとき得らｎる（、４号は、第す図（ｅ）
のように、従来のものと比べて２倍の１５号パルスが借
られる。更に、固定スリット板（３１ｋ 付らｎる１ａ
号が９００の位相差ｔもつ位１１４に設けることにより
、２個の値牲からもとの８１音のパルス？得ることがで
きる。2nd Embodiment In FIG. 6, (3) is a constant slit plate, which has a phase difference of 180° from each other as shown in FIG. Two types of slit rows H, 021'; r R, rotating slit disk (2)
The suri-shito row is a reflective surface (+3), and an annular slit (14j) is provided so that the Noh part is fully reflected.The light from the luminous confectionery (4) is 3) Slit row (It) k passes through the rotating slit disk (2)
The light is reflected by another rmu3+ of the slit plate (3), passes through the slit row (+21''; c) of the defining slit plate (3), and is exchanged with the light receiving element (5). Figure (e)
As shown in FIG. Furthermore, a fixed slit plate (31k attached)
By providing the signal at 114 where the signal has a phase difference t of 900, the original 81-tone pulse can be obtained from the two values. Obtainable.
上述のように本発明は、回転スリット円板に互いに１８
０°の位相差を有する２種の環状のスリット列ｋＷけ、
前記２楓の環状のスリットタリより長く且つＩＩ−Ｊ−
ヒラ予のスリットを固定スリ゛ソト板に設けた刀島ら、
スリット列又はスリットの＆に多くすることなく品分解
能が得らｎ１尚分解能？得る１ヒめに加工精度￥茜める
胚胎がなく、小型にでき、又、回転スリット円板のスリ
ットタ１」？反射面とし、−疋スリット板に１８０°の
位相庄を伺するスリット列′Ｔ：設けたから、反射面の
数７多くすることなく一分解能が得られ、史に、固定ス
リット叡のスリット？９０°の位を１差？もって２つの
スリーシト都に分かれる如くシ友から、一層外解能を向
上でき、更に又、受光菓子を回転スリット円板の層状の
スリット列および固定スリット板のスリット部に対しく
するだけ設け、発光菓子で１個又は０り記受光案子のそ
れぞれに対向して設けたから、嘔気（−号処理が浦早に
でき、回路構成がｈ単にできるという効果を余するもの
である。As mentioned above, the present invention provides rotating slit disks with 18
Two types of annular slit arrays kW with a phase difference of 0°,
It is longer than the annular slit of the above two maples and II-J-
Katajima et al. created a slit for Hirayo on a fixed slit plate.
Is it possible to obtain good resolution without increasing the number of slit rows or slits? There is no processing precision in the first step, and it can be made smaller, and the slit machine of the rotating slit disc can be made smaller. By providing a slit row 'T' with a 180° phase angle on the reflective surface on the slit plate, one resolution can be obtained without increasing the number of reflective surfaces. 1 difference at 90°? As a result, it is possible to further improve the external resolution from the point of view as it is divided into two three-dimensional areas.Furthermore, the light-receiving confectionery is placed as much as possible against the layered slit rows of the rotating slit disk and the slit portion of the fixed slit plate, and the light-emitting device is Since the confectionery is provided in opposition to each of the light-receiving screens, it has the advantage that the treatment of nausea (-) can be easily performed and the circuit configuration can be simplified.
第１凶は従来の光学式〇−タリーエンコーダの一例の斜
視図、第２凶は１−上の１巳の例の斜視図、第５図は本
発明の一メ彪例の斜視図、第４凶は向上の回転スリット
円板と固定スリット板との圓俤説明図、第５図佃工→セ
同上の要ｈｔＳ値号波形図、第６凶は本発明の匝の医施
例の斜視図、第７図は同上の回転スリット円板と固定ス
リ・シト板との間係説明図である。
（２）・・・回転スリット円板、（３）・・・２＋定ス
リツト板、＋４１−・・発光菓子、（６）、（５ａ ）
〜（５ｄ ）−”ｉｅツＣ索子、（６）・・・スリット
、（６ａ）、（６ｂ）パ°スリット部、（９）、（ｔｏ
ｌ・・・環状のスリットタ１」、（１１八ｔ１２１・・
・スリットタリ、霞・・・反射面。
代理人 弁理士 石 １）長 上
第１図
第２囚
第３図。
第４図
第５図
第６図
第７図The first figure is a perspective view of an example of a conventional optical Tally encoder, the second figure is a perspective view of an example of the above one-way encoder, and the fifth figure is a perspective view of an example of the present invention. 4th figure is a circular explanatory diagram of the rotary slit disk and fixed slit plate, Figure 5 is a diagram of the essential htS value waveform of the same as above, and 6th figure is a perspective view of the medical implementation of the present invention. FIG. 7 is an explanatory view of the relationship between the rotating slit disk and the fixed slit plate. (2)...Rotating slit disk, (3)...2+fixed slit plate, +41-...Luminous confectionery, (6), (5a)
~(5d)-"ietsu C strand, (6)... slit, (6a), (6b) path slit part, (9), (to
l...Annular slit 1'', (118t121...
・Slit tari, haze...reflective surface. Agent Patent Attorney Ishi 1) Chief Figure 1, Prisoner 2, Figure 3. Figure 4 Figure 5 Figure 6 Figure 7
Claims (1)
の回転軸に収相゛された回転スリット円板と、１＾１定
されたスリット板とから成る光学式ロータリーエンコー
タにおいて、回転スリット円板に互いに１８００の位相
差を何する２糠の環状のスリット列を設け、前記２種の
環状のスリット列の長さよりしく且つ同一ピッチのスリ
ットｔ（２）疋スリット板に家けて成ることを特徴とす
る光学式ロータリーエンコータ。 （２）回転スリット円板のスリットタｕｋ反射面とし、
１［！＋１定スリット板に１８０°の位相差を旬°する
スリット列ｋＷけて成ることｔ特徴とする特許請求の範
囲第１項記戦の光学式ロータリーエンコータ（３）固定
スリット板のスリットに９０°の位相差ｔもって２つの
スリット部に分かｎる如＜シて成ることを特徴とする待
１ｆＦｃｉ１１：！にの範囲第１項記載の光学式ロータ
リーエンコータ。 （４）受光素子を回転スリット円板の環状のスリット列
および固定スリット板のスリット部に対応す′るだけ設
け、発光素子を１個又は前記受光菓子のそｎぞｎに大寸
間して友けて成ることケナ寺徴とする特Ｆｆｆ請求の範
囲第１項又は第３項記載の光学式０％式％[Claims] An optical rotary encoder comprising a +11 light-emitting element and a light-receiving element, a rotating slit disk whose phase is converged on a rotating shaft for obtaining a position signal, and a 1^1 fixed slit plate. In this method, two annular slit rows having a phase difference of 1800 degrees from each other are provided on a rotating slit disk, and slits t(2) having a length longer than the two types of annular slit rows and having the same pitch are formed on the slit plate. An optical rotary encoder that is characterized by a built-in structure. (2) As a slit reflecting surface of a rotating slit disk,
1 [! (3) Optical rotary encoder according to claim 1, characterized in that it consists of a slit row kW that creates a phase difference of 180° on a fixed slit plate (3). Fci11:! is characterized in that it is divided into two slit parts with a phase difference t of °. The optical rotary encoder according to item 1. (4) Provide light-receiving elements corresponding to the annular slit rows of the rotating slit disk and the slit portions of the fixed slit plate, and place one light-emitting element or a large number of light-emitting elements on each of the light-receiving confectionery. Optical 0% formula % as set forth in claim 1 or 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12982883A JPS6021411A (en) | 1983-07-15 | 1983-07-15 | Optical rotary encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12982883A JPS6021411A (en) | 1983-07-15 | 1983-07-15 | Optical rotary encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6021411A true JPS6021411A (en) | 1985-02-02 |
Family
ID=15019226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12982883A Pending JPS6021411A (en) | 1983-07-15 | 1983-07-15 | Optical rotary encoder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6021411A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS626117A (en) * | 1985-07-03 | 1987-01-13 | Asahi Chem Ind Co Ltd | Rotary encoder |
| JPS626118A (en) * | 1985-07-03 | 1987-01-13 | Asahi Chem Ind Co Ltd | Rotary encoder |
| US4673808A (en) * | 1984-10-17 | 1987-06-16 | Asahi Kasei Kogyo Kabushiki Kaisha | Disc for rotary encoder and method for producing same |
-
1983
- 1983-07-15 JP JP12982883A patent/JPS6021411A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4673808A (en) * | 1984-10-17 | 1987-06-16 | Asahi Kasei Kogyo Kabushiki Kaisha | Disc for rotary encoder and method for producing same |
| JPS626117A (en) * | 1985-07-03 | 1987-01-13 | Asahi Chem Ind Co Ltd | Rotary encoder |
| JPS626118A (en) * | 1985-07-03 | 1987-01-13 | Asahi Chem Ind Co Ltd | Rotary encoder |
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| JPH0462003B2 (en) | ||
| JPH0462004B2 (en) | ||
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| JPH0424645B2 (en) | ||
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| JPH0462002B2 (en) |