WO2011001886A1 - 自動車駆動用モータの回転角度検出装置およびこの回転角度検出装置を取付けた軸受 - Google Patents
自動車駆動用モータの回転角度検出装置およびこの回転角度検出装置を取付けた軸受 Download PDFInfo
- Publication number
- WO2011001886A1 WO2011001886A1 PCT/JP2010/060735 JP2010060735W WO2011001886A1 WO 2011001886 A1 WO2011001886 A1 WO 2011001886A1 JP 2010060735 W JP2010060735 W JP 2010060735W WO 2011001886 A1 WO2011001886 A1 WO 2011001886A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- magnetic
- rotation angle
- motor
- detection device
- driving
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
- F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
- F16C41/008—Identification means, e.g. markings, RFID-tags; Data transfer 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
- G01D5/12—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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
- G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2326/00—Articles relating to transporting
- F16C2326/01—Parts of vehicles in general
-
- 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
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
Definitions
- the present invention relates to detection of a rotor angle necessary for motor control of a brushless motor or the like, in particular, a rotation angle detection device used for detection of a rotor angle of a drive motor in an electric vehicle or a hybrid vehicle, and this rotation angle detection device.
- the present invention relates to a bearing with a built-in rotation angle detection device.
- a rotation angle detection device used for rotation angle detection in various devices a combination of a double-row magnetic encoder magnetized with different numbers of magnetic poles and a sensor capable of detecting the phase in the magnetic pole pair is used to connect adjacent magnetic encoders.
- a bearing that detects an absolute angle from a phase difference and a bearing with a rotation angle detection device in which the rotation angle detection device is mounted on a bearing have been proposed (for example, Patent Document 1).
- the senor is molded in a state of being covered with a thermoplastic elastomer or a material exhibiting rubber elasticity, and a wheel with the rotation angle detection device in which the rotation angle detection device is mounted on a wheel bearing.
- Patent Document 2 discloses a mounting method of a rotation angle detection device that prevents damage due to vibration and thermal expansion of a bearing for the sensor, and sensor components of the rotation angle detection device, and has improved waterproofness and sealing performance.
- Patent Documents 1 and 2 the usage form incorporated in an electric vehicle or a hybrid vehicle is not disclosed.
- various devices using a resolver Patent Documents 3 to 6) are known as rotation angle detection devices for detecting the rotation angle of a motor rotor.
- Patent Document 3 discloses a configuration example in which a resolver is disposed on the outside of a partition wall in order to avoid electromagnetic noise of an automobile drive motor.
- Patent Document 4 discloses a resolver fixing structure in a transmission unit of a hybrid vehicle.
- Patent Document 5 discloses a hybrid vehicle rotation angle detection device to which a resolver composed of a printed circuit board is applied.
- problems with a variable reluctance type resolver (VR type resolver) using laminated steel sheets are mentioned, and it is stated that it is difficult to reduce the effect of rotational shake and miniaturization.
- Patent Document 6 describes a problem in an environment exposed to cooling (lubricating) oil when a resolver composed of a printed circuit board is applied as a rotation angle detection device of a hybrid vehicle. Resistance to shearing force caused by oil during high-speed rotation and chemical action such as sulfur contained in the oil additive is required.
- JP 2008-233069 A Japanese Patent Application No. 2007-223481 Japanese Patent Laid-Open No. 2001-078393 JP 2007-336714 A JP 2008-197046 A JP 2008-215835 A
- a resolver widely used in motors for driving automobiles is a VR type resolver using a coil detection method, and is composed of a laminated steel plate of magnetic material, so that its weight and size are increased.
- high processing accuracy is required for the resolver rotor and the resolver stator, and it is necessary to accurately manage the relative position in the assembly process.
- the installation environment of the rotation angle detection device incorporated in the motor for driving an automobile is harsh and needs to have high environmental resistance.
- the resolver detection unit is composed of laminated steel plates and coils, so it is characterized by being resistant to harsh environments as described above, but a separate processing circuit (RD converter) is required to calculate the rotation angle from the resolver signal. Therefore, since it is necessary to mount this processing circuit in a control device or the like, the mounting space and component costs increase.
- a processing circuit such as an RD converter is used. What is needed is the same.
- An object of the present invention is to provide a rotation angle detection device for a motor for driving a vehicle and a bearing with the rotation angle detection device that are compact and lightweight, can be easily assembled, and can reduce externally necessary electric circuits and parts as much as possible. .
- the rotation angle detecting device for a motor for driving an automobile includes a magnetic encoder provided in a concentric ring shape and formed with a plurality of magnetic tracks having different numbers of magnetic poles, and a plurality of magnetic fields respectively detecting the magnetic fields of these magnetic tracks. And each of the magnetic sensors has a function of detecting position information in the magnetic pole of the magnetic track, and a phase difference detecting means for obtaining a phase difference of the magnetic field signals detected by the magnetic sensors.
- the magnetic encoder is installed on the rotating shaft of a rotor of an automobile driving motor or a member that rotates integrally with the rotating shaft, and the rotor angle of the motor for driving the automobile is detected.
- the magnetic track of the magnetic encoder is, for example, two or three rows. The magnetic track may be configured such that each phase relationship repeatedly changes during one rotation.
- a magnetic encoder having a plurality of magnetic tracks having different numbers of magnetic poles for example, a magnetic encoder having 12 magnetic pole pairs and 13 magnetic tracks
- these magnetic fields are detected.
- a phase shift of one magnetic pole pair occurs in one rotation.
- This phase difference is detected by the phase difference detecting means, an absolute angle in one rotation section is calculated by the angle calculating means based on the phase difference, and this is used as the rotation angle of the motor rotor, and an external motor control device is output by the signal output means.
- the rotation angle detection is performed at the position on the inner diameter side of the motor rotor in a motor for driving an automobile having a magnetic gap on the outer diameter side.
- a device can be arranged.
- the rotation angle detection device can be incorporated in a compact manner without increasing the axial dimension of the motor for driving the automobile.
- the rotation angle detection device can be arranged on the inner diameter side of the motor rotor, it is difficult to be affected by electromagnetic noise due to the leakage magnetic field of the automobile drive motor, and stable rotation angle detection is possible. As a result, even if it is used in a motor for driving an automobile, it is possible to provide a rotation angle detection device that is compact and lightweight, can be easily assembled, and can reduce externally necessary electric circuits and parts as much as possible.
- the magnetic sensor has a plurality of magnetic detectors arranged in the arrangement direction of the magnetic poles of the magnetic track, and calculates the outputs of the magnetic detectors to generate a two-phase signal of sin and cos. It may be generated to detect the position in the magnetic pole.
- the detection method of the magnetic sensor used is a differential detection method that detects magnetic phase information based on the magnetic field strength distribution in the magnetic pole of the magnetic track, the influence of noise such as a leakage magnetic field is reduced. It is difficult to receive, and it is possible to accurately detect an absolute angle by accurately reading a signal of a magnetic track.
- the magnetic sensor, the phase difference detection means, the angle calculation means, and the signal output means may be integrated in an integrated circuit.
- the reliability can be improved, the size can be reduced, and the cost can be reduced during mass production.
- the magnetic sensor is incorporated in a sensor case, and a magnetic plate having a larger area than that of the magnetic sensor is disposed on the back surface of the magnetic sensor.
- the magnetic plate can prevent the leakage magnetic field from the driving motor from entering the magnetic sensor.
- a spacer made of a magnetic material may be interposed between adjacent magnetic tracks.
- adjacent magnetic tracks are separated by a spacer.
- the magnetic tracks may be provided by arranging magnetic poles on the surface of a common plate core made of a magnetic material, and the spacer may be formed by bending the plate core.
- the magnetic poles of the magnetic tracks are provided side by side on the surface of the common plate-shaped metal core, a simple structure can be achieved.
- each magnetic track may be made of a rubber magnet or a plastic magnet.
- a rotation angle detection device When incorporating a rotation angle detection device into a motor for driving an automobile, it is necessary to have high environmental resistance, but if each magnetic track is made of rubber magnets or plastic magnets, it has high temperature resistance and oil resistance. It can be.
- each of the magnetic tracks may have a visible mark indicating a specific position of the magnetic pole array of the magnetic track.
- the specific position is, for example, an origin position.
- the mark may be a symbol or the like, or may be a notch or a stamp.
- the signal output means may include a signal cable, and the signal cable may have a shield structure.
- the signal cable may have a shield structure.
- the magnetic encoder may be installed on the inner ring of a rolling bearing that supports the rotating shaft of the rotor, and the magnetic sensor may be installed on the outer ring.
- the rotation angle detection device can be easily installed on the motor for driving the automobile.
- the automobile driving motor may be an in-wheel type automobile driving motor. Even in the case of an in-wheel type motor for driving an automobile, the effect of the present invention, which is compact and lightweight, can be easily assembled, and can reduce externally necessary electric circuits and parts as much as possible, is effectively exhibited.
- the in-wheel type motor for driving an automobile referred to in this specification does not necessarily include the motor itself in the wheel, and includes one in which some assembly parts including the motor are included in the wheel. For example, a motor, a speed reducer, and a wheel bearing are assembled as one assembly part, and the wheel bearing part of the assembly part is located in the wheel. Called.
- a bearing with a rotation angle detection device for a motor for driving an automobile is a bearing that rotatably supports a rotor of a motor for driving a vehicle, and the rotation angle detection device according to any one of the above configurations of the present invention is integrally attached. It is characterized by that. According to this configuration, it is possible to reduce the number of parts, the number of assembling steps, and downsizing of the motor for driving the automobile while having the absolute angle detection function. Further, adjustment of the sensor gap or the like is not required at the time of assembling, so that further downsizing can be achieved.
- a visible mark indicating the origin position of the magnetic encoder may be provided on an inner ring which is a rotating ring of the bearing.
- FIG. 3 and (A) and (B) are diagrams showing examples of magnetic pole patterns of magnetic tracks, respectively.
- C) and (D) are waveform diagrams showing detection signals of magnetic sensors corresponding to (A) and (B), respectively, and (E) is a position for obtaining a phase difference between (C) and (D). It is a wave form diagram which shows the detection signal of a phase difference detection means.
- (A) to (E) are explanatory views showing a schematic operation of absolute angle detection by the rotation angle detecting device of FIG. 3, and (A) and (B) are diagrams showing examples of magnetic pole patterns of magnetic tracks, respectively.
- FIG. 4 is a block diagram illustrating a configuration example of an absolute angle detection circuit of the rotation angle detection device of FIG. 3. It is a block diagram which shows one structural example of the angle information output circuit in the rotation angle detection apparatus of FIG. It is an expanded sectional view of the other structural example of a bearing with a rotation angle detection apparatus of FIG. It is a fragmentary top view of the other structural example of the magnetic encoder in the rotation angle detection apparatus of FIG.
- FIG. 13 is a front view which shows schematic structure of the rotation angle detection apparatus in the bearing with a rotation angle detection apparatus of FIG. 13
- B is a partial expanded sectional view of the magnetic encoder in the rotation angle detection apparatus of FIG.
- A) is sectional drawing which shows the other structural example of the rotation angle detection apparatus in the bearing with a rotation angle detection apparatus of embodiment of FIG. 13,
- B) is a front view by the side of the magnetic sensor in the rotation angle detection apparatus of (A).
- C) is an enlarged view of part A of (A).
- FIG. 20 is a cross-sectional view illustrating a stage of the sensor assembly of FIG. 19 before compression molding.
- FIG. 20 is a cross-sectional view illustrating a state in which the sensor assembly of FIG. 19 is sandwiched between an upper mold and a lower mold.
- FIG. 1 shows a cross-sectional view of a drive motor and its peripheral part in a hybrid vehicle in which a bearing with a rotation angle detection device of this embodiment is assembled.
- an output shaft of an engine (not shown) is connected to an output shaft 51 of a drive motor 50, and the output shaft 51 is further connected to an output shaft 55 of a generator 54 via a speed reducer 53.
- the rotation of the driving motor 50 and the generator 54 and the state of the speed reducer 53 are controlled to obtain an optimum output state.
- the drive motor 50, the speed reducer 53, and the generator 54 are installed in a sealed housing 56.
- the housing 56 includes a peripheral wall 56 a, end walls 56 b and 56 c on both sides, a partition wall 56 d that partitions an installation space for the drive motor 50 and the reduction gear 53, and an installation space for the reduction gear 53 and the generator 54. It is comprised with the partition wall 56e which partitions off.
- the main body of the driving motor 50 is composed of a motor rotor 50a and a motor stator 50b arranged on the outer periphery thereof.
- the motor rotor 50 a is provided around the rotation shaft serving as the output shaft 51, and the motor stator 50 b is installed on the inner surface of the peripheral wall 56 a of the housing 56.
- An output shaft 51 of the drive motor 50 is rotatably supported by the housing 56 via a bearing 57 and a bearing 58 with a rotation angle detection device.
- the bearings 57 and 58 are rolling bearings, and the outer rings of the bearings 57 and 58 are respectively installed on the end wall 56b and the partition wall 56d of the housing 56.
- the inner rings of the bearings 57 and 58 are fixed to the output shafts 51 and 55 by press fitting or the like.
- the main body of the generator 54 includes a generator rotor 54a and a generator stator 54b disposed on the outer periphery thereof.
- the generator rotor 54 a is fitted on the output shaft 55, and the generator stator 54 b is installed in the housing 56.
- An output shaft 55 of the generator 54 is rotatably supported by the housing 56 via a bearing 59 and a bearing 58A with a rotation angle detection device. With this configuration, the rotation of the drive motor 50 and the generator 54 and the state of the speed reducer 53 are controlled so that an optimum output state can be obtained.
- the bearings 58, 58A with the rotation angle detection device are used for control such as switching the drive current of the stator coil.
- the rotor angle detected by the rotation angle detection device is used.
- the two bearings 58 and 58A with the rotation angle detecting device have the same configuration.
- FIG. 2 is an enlarged cross-sectional view of a bearing 58 with a rotation angle detection device that rotatably supports the output shaft 51 of the drive motor 50 on the housing 56.
- This bearing 58 with a rotation angle detecting device is provided at one end of the rolling bearing 21 in which a plurality of rolling elements 24 are interposed between an inner ring 22 that is a rotating side raceway and an outer ring 23 that is a fixed side raceway. 1 is provided.
- the rolling bearing 21 is a deep groove ball bearing, and rolling surfaces 22 a and 23 a of the rolling elements 24 are formed on the outer diameter surface of the inner ring 22 and the inner diameter surface of the outer ring 23, respectively.
- the bearing space between the inner ring 22 and the outer ring 23 is sealed with a seal 26 at the end opposite to the installation side of the rotation angle detection device 1.
- FIG. 3 shows a schematic configuration of the rotation angle detection device 1 according to the first embodiment.
- the rotation angle detection device 1 includes a magnetic encoder 2 provided on the outer periphery of an inner ring 22 of the rolling bearing 21 and a sensor unit 3 having magnetic sensors 3A and 3B.
- the magnetic encoder 2 has a plurality (here, two) of magnetic tracks 2A and 2B provided in a ring shape concentric with the axis O.
- the magnetic sensors 3A and 3B are sensors for detecting the magnetic fields of the magnetic tracks 2A and 2B, respectively.
- FIG. 3 shows a schematic configuration of the rotation angle detection device 1 according to the first embodiment.
- the rotation angle detection device 1 includes a magnetic encoder 2 provided on the outer periphery of an inner ring 22 of the rolling bearing 21 and a sensor unit 3 having magnetic sensors 3A and 3B.
- the magnetic encoder 2 has a plurality (here, two) of magnetic tracks 2A and 2B provided in a ring shape concentric with the axis
- these magnetic sensors 3A and 3B are provided in a sensor case 5 that is a fixed member so as to face each of the magnetic tracks 2A and 2B in a radial direction (radial direction) through a minute gap. It is done.
- the magnetic sensor 3A faces the magnetic track 2A
- the magnetic sensor 3B faces the magnetic track 2B.
- Each of the magnetic tracks 2A and 2B is a ring-shaped magnetic member in which a plurality of magnetic pole pairs (one set of a magnetic pole S and a magnetic pole N) are magnetized at an equal pitch in the circumferential direction.
- a magnetic pole pair is magnetized on the outer peripheral surface.
- the number of magnetic pole pairs of these two magnetic tracks 2A and 2B is set to be different from each other.
- the magnetic tracks 2A and 2B may have a configuration in which each phase relationship repeatedly changes during one rotation. That is, in the relationship between the magnetic pole pairs of the magnetic tracks 2A and 2B, the point where the phase difference becomes zero (the point where the phases match) may be present not only once per rotation but also multiple times.
- the 120-degree section can be detected by an absolute angle.
- the two magnetic tracks 2A and 2B are provided.
- the magnetic track may be three or more. If the number of rows is increased, an absolute angle in a wider angle range can be detected.
- the magnetic tracks 2A, 2B are provided on a common cored bar 12 made of a magnetic material, and a magnetic comprising the cored bar 12 and the magnetic tracks 2A, 2B.
- the encoder 2 is attached to the outer periphery of the inner ring 22 of the rolling bearing 21. That is, the cored bar 12 is a ring-shaped member, and two magnetic tracks 2A and 2B are provided side by side in the axial direction on the outer peripheral surface thereof.
- a fitting tube portion 12b having a smaller diameter than the magnetic track setting portion 12a and extending in the axial direction is formed on one side of the magnetic track setting portion 12a in the cored bar 12.
- the cored bar 12 is fixed to the inner ring 22 by fitting the fitting cylinder portion 12b to the outer peripheral surface of the inner ring 22 of the rolling bearing 21 by press fitting or the like.
- the magnetic track mounting portion 12a of the cored bar 12 is provided with a ring-shaped bent portion 12aa located between the adjacent magnetic tracks 2A and 2B and serving as a spacer for separating the magnetic tracks 2A and 2B. , 2B.
- the bent shape portion 12aa is formed in a folded piece shape toward the outer peripheral surface side where the magnetic tracks 2A and 2B of the core metal 12 are provided, that is, a portion bent so as to fold the core metal 12 is formed, and the portion protrudes. To do.
- Adjacent magnetic tracks 2A and 2B are separated by the bent portion 12aa. Accordingly, it is possible to suppress magnetic field interference between the two magnetic tracks 2A and 2B without increasing the interval between the corresponding magnetic sensors 3A and 3B, and to reduce detection errors caused by the magnetic field interference. Magnetic signals 2A and 2B can be detected with high accuracy.
- the magnetic poles of the magnetic tracks 2A and 2B are provided side by side on the outer peripheral surface of the common metal core 12, a simple structure can be achieved.
- these magnetic tracks 2A and 2B are rubber magnets or plastic magnets, it is desirable to form them integrally with a cored bar 12 having a bent portion 12aa serving as the spacer.
- the inner ring 22 of the rolling bearing 21 may be provided with a detent means (not shown) such as a keyway or a notch in order to prevent creep.
- the magnetic encoder 2 may also serve as a mark for the mounting position or mounting direction, that is, an index.
- the origin positions of the magnetic tracks 2A and 2B are preferably fixed according to the positions of the key grooves and the like. Thereby, when the bearing 58 with a rotation angle detection device is assembled to the drive motor 50, the origin positions of the phases of the magnetic tracks 2A and 2B can be mechanically aligned.
- the magnetic tracks 2A, 2B are vulcanized and bonded to an elastic member mixed with magnetic powder on a cored bar 12 made of a magnetic material in order to provide oil resistance and high temperature response characteristics.
- a cored bar 12 made of a magnetic material are formed as rubber magnets by alternately forming magnetic poles in the circumferential direction.
- an elastic material in this case, NBR (nitrile rubber), HNBR (hydrogenated nitrile rubber), acrylic rubber, fluorine rubber, or the like is desirable.
- a resin molded body obtained by molding a resin mixed with magnetic powder is provided on a cored bar 12 made of a magnetic body, and the resin molded bodies are alternately arranged in the circumferential direction. Magnetic poles may be formed on the resin magnets.
- magnetic poles are alternately formed in the circumferential direction on a sintered body obtained by sintering a mixed powder of magnetic powder and non-magnetic powder, thereby forming a sintered magnet. Also good.
- these magnets those using ferrite as magnetic powder, or rare earth magnets such as SmFeN, SmCo, NdFeB are used.
- the magnetic sensors 3A and 3B have a function of detecting magnetic poles with a resolution higher than the number of magnetic pole pairs of the corresponding magnetic tracks 2A and 2B, that is, a function of detecting position information within the magnetic pole ranges of the magnetic tracks 2A and 2B. It is supposed to be.
- a 90 ° phase difference ( ⁇ / 4)
- Two magnetic sensor elements 3A1 and 3A2 such as Hall elements arranged apart from each other in the magnetic pole alignment direction are used, and two-phase signals (sin ⁇ , cos ⁇ obtained by these two magnetic sensor elements 3A1 and 3A2 are used.
- the waveform diagram of FIG. 5 shows the arrangement of the magnetic poles of the magnetic track 2A in terms of magnetic field strength.
- the magnetic field distribution of the magnetic tracks 2A and 2B can be detected more finely as a sinusoidal signal based on an analog voltage rather than as an on / off signal, and accurate absolute angle detection can be performed. It becomes possible.
- FIG. 6B is a waveform diagram in which a section of one magnetic pole (1/2 magnetic pole pair) in the magnetic track 2A is converted into a magnetic field strength B.
- the first line sensor 3AA of the magnetic sensor 3A is arranged in association with the 90-degree phase section of the 180-degree phase section in FIG.
- the second line sensor 3AB is the remaining 90. It is arranged in correspondence with the phase interval of degrees.
- the signal S1 obtained by adding the detection signal of the first line sensor 3AA by the adder circuit 31 and the signal S2 obtained by adding the detection signal of the second run sensor 3AB by the adder circuit 32 are added to another adder circuit 33. Is added to obtain a sin signal corresponding to the magnetic field signal as shown in FIG. Further, the signal S1 and the signal S2 via the inverter 35 are added by another adding circuit 34 to obtain a cos signal corresponding to the magnetic field signal as shown in FIG. The position in the magnetic pole is detected from the two-phase output signal thus obtained.
- the magnetic sensors 3A and 3B are configured by line sensors in this way, the effects of distortion and noise of the magnetic field pattern are reduced, and the phases of the magnetic tracks 2A and 2B can be detected with higher accuracy.
- the magnetic sensors 3 ⁇ / b> A and 3 ⁇ / b> B are connected to the phase difference detection means 6.
- the phase difference detection means 6 is a means for obtaining a phase difference between magnetic field signals detected by the magnetic sensors 3A and 3B, and an angle calculation means 7 is connected to the subsequent stage.
- the angle calculation means 7 is a means for calculating the absolute angles of the magnetic tracks 2A and 2B based on the phase difference detected by the phase difference detection means 6. Information on the calculated absolute angle is output to the outside by the signal output means 8 including the signal cable 37.
- the two magnetic sensors 3A, 3B of the rotation angle detection device 1 are integrated as a sensor module 25 together with a circuit board 27 on which the magnetic sensors 3A, 3B and other signal processing circuits are mounted. It is inserted inside the ring-shaped metal sensor case 5.
- the magnetic sensor 3A, 3B, sensor module 25, and sensor case 5 constitute a sensor unit 3.
- the circuit board 27 in the sensor module 25 is covered with a molding part 30 made of a resin material or a rubber material, and is attached to one end of the outer ring 23 of the rolling bearing 21 via the sensor case 5. Mounted on the inner surface.
- the magnetic sensors 3A and 3B corresponding to the magnetic tracks 2A and 2B are arranged to face each other in the radial direction. Since the positional relationship between the sensor case 5 and the magnetic tracks 2A and 2B is managed by being incorporated in the rolling bearing 21, the positioning and fixing of the magnetic sensors 3A and 3B and the magnetic tracks 2A and 2B are facilitated.
- the sensor module 25 is disposed only in a part of the sensor case 5 in the circumferential direction. Thereby, since only the sensor module 25 can be removed from the sensor case 5, the maintenance work can be easily performed.
- a magnetic material as the material of the sensor case 5 in order to prevent the magnetic field information of the magnetic tracks 2A and 2B detected by the magnetic sensors 3A and 3B from being disturbed by the motor magnetic field.
- a magnetic plate 36 having a larger area than at least the magnetic sensors 3A and 3B is disposed on the back surface of the magnetic sensors 3A and 3B opposite to the surface facing the magnetic tracks 2A and 2B. Is done. Thereby, the magnetic plate 36 can prevent the leakage magnetic field from the driving motor 50 (FIG. 1) from entering the magnetic sensors 3A and 3B.
- FIG. 3 if the number of magnetic pole pairs of the two magnetic tracks 2B and 2A is P and P + n, there is a phase difference of n magnetic pole pairs per rotation between the magnetic tracks 2A and 2B.
- the phases of the detection signals of the magnetic sensors 3A and 3B corresponding to the magnetic tracks 2A and 2B coincide with each other when rotated 360 / n degrees.
- FIGS. 7A and 7B show examples of magnetic pole patterns of both magnetic tracks 2A and 2B.
- FIGS. 7C and 7D show detection signals of magnetic sensors 3A and 3B corresponding to these magnetic tracks. The waveform is shown. In this case, the two magnetic pole pairs of the magnetic track 2B correspond to the three magnetic pole pairs of the magnetic track 2A, and the absolute position in this section can be detected.
- FIG. 7E shows a waveform diagram of the output signal of the phase difference obtained from the phase difference detecting means 6 of FIG. 3 based on the detection signals of FIGS. 7C and 7D.
- FIGS. 8A to 8E show waveform diagrams of detection phases and phase differences detected by the magnetic sensors 3A and 3B.
- 8A and 8B show examples of magnetic pole patterns of the magnetic tracks 2A and 2B, respectively.
- FIGS. 8C and 8D show detection phases of the corresponding magnetic sensors 3A and 3B, respectively.
- a waveform diagram is shown, and
- FIG. 8E shows a waveform diagram of the phase difference signal output from the phase difference detection means 6 (FIG. 3).
- FIG. 9 shows a configuration example of an absolute angle detection circuit in the rotation angle detection device 1.
- the corresponding phase detection circuits 13A and 13B are as shown in FIGS. 8C and 8D, respectively.
- Each detected phase signal is output.
- the phase difference detecting means 6 outputs a phase difference signal as shown in FIG. 8E based on these detected phase signals.
- the angle calculation means 7 provided in the next stage performs a process of converting the phase difference obtained by the phase difference detection means 6 into an absolute angle according to a preset calculation parameter. Calculation parameters used in the angle calculation means 7 are stored in a memory 9 such as a nonvolatile memory.
- the memory 9 stores information necessary for the operation of the apparatus, such as setting of the number of magnetic pole pairs of the magnetic tracks 2A and 2B, an absolute angle reference position, and a signal output method.
- the contents of the memory 9 can be updated through the communication interface 10.
- the individual setting information can be variably set according to the use situation, and the usability is improved.
- the absolute angle information calculated by the angle calculation means 7 is output from the angle information output circuit 11 or via the communication interface 10 as a modulation signal such as a parallel signal, serial data, analog voltage, or PWM. Further, a rotation pulse signal is also output from the angle calculation means 7. As the rotation pulse signal, any one of the detection signals of the two magnetic sensors 3A and 3B may be output. As described above, since each magnetic sensor 3A, 3B has a multiplication function, it can output a rotation signal with high resolution.
- the absolute angle calculated by the angle calculation means 7 is divided into two A-phase and B-phase pulse signals having a phase difference of 90 degrees and a Z-phase pulse signal indicating the origin position. It may be output as an ABZ phase signal.
- the absolute angle execution means in the angle information output circuit 11 responds accordingly.
- a mode execution signal (ABS_mode 1) indicating that the absolute angle output mode is in effect is generated from the mode execution signal generation means 16 in the angle information output circuit 11, and a rotation pulse signal in the angle information output circuit 11
- the angle information output circuit 11 may be configured such that A, B, and Z phase signals are output from the generation unit 17.
- the angle information output circuit 11, the signal cable 37, the receiving circuit 14 and the like constitute the signal output means 8.
- the signal cable 37 to be used preferably has a shield structure.
- the magnetic sensors 3A and 3B and the signal processing circuit including the angle information output circuit 11 shown in FIG. 9 are integrated as a sensor module 25 as shown in FIG.
- the sensor module 25 may be integrated on one semiconductor chip.
- the rotation angle detection device 1 includes a plurality of magnetic tracks 2A and 2B that are provided in concentric rings and have different numbers of magnetic poles, and a plurality of magnetic sensors that respectively detect the magnetic fields of the magnetic tracks 2A and 2B. 3A and 3B, and each of the magnetic sensors 3A and 3B has a function of detecting position information in the magnetic poles of the magnetic tracks 2A and 2B, and the position of the magnetic field signal detected by each of the magnetic sensors 3A and 3B.
- the phase difference is obtained by the phase difference detecting means 6, the absolute angle of the magnetic tracks 2A and 2B is calculated by the angle calculating means 7 based on the detected phase difference, and the calculated absolute angle is taken out by the signal output means 8. Therefore, the structure becomes simple, and the absolute angle can be detected with accuracy and taken out to the outside.
- the rotation angle detection device 1 since the rotation angle detection device 1 is small and light by the configuration including the magnetic encoder 2 having the magnetic tracks 2A and 2B and the magnetic sensors 3A and 3B, the motor for driving the automobile in which the magnetic gap is arranged on the outer diameter side. 50, the rotation angle detection device 1 can be disposed at the inner diameter side position of the motor rotor 50a. Thereby, the rotation angle detector 1 can be incorporated in a compact manner without increasing the axial dimension of the drive motor 50. Further, since the rotation angle detection device 1 can be arranged on the inner diameter side of the motor rotor 50a, it is difficult to be affected by electromagnetic noise due to the leakage magnetic field of the drive motor 50, and stable rotation angle detection is possible. As a result, the rotation angle detector 1 can be used for the motor 50 for driving an automobile, and can be easily assembled with a compact and light weight, and can reduce externally necessary electric circuits and parts as much as possible.
- the magnetic encoder of the rotation angle detection device using two magnetic tracks 2A and 2B is illustrated, but the number of magnetic pole pairs is not necessarily two, and the number of magnetic pole pairs is different.
- a configuration may be adopted in which three or more magnetic tracks are combined to detect a wider range of absolute angles.
- the rotation angle detection device 1 uses the drive. Since the electrical angle of the motor 50 can be detected, it is convenient for the rotation control of the drive motor 50.
- the rotation angle detection device 1 is mounted on the rolling bearing 21, so that it has a function of detecting an absolute angle and is driven.
- the number of parts of the motor 50 and the number of assembly steps can be reduced and the size can be reduced.
- the effect of the bearing 58A with the rotation angle detection device that supports the output shaft 55 of the generator 54 is the same as that of the bearing 58 with the rotation angle detection device that supports the output shaft 51 of the drive motor 50.
- the configuration of the magnetic encoder 2 and the magnetic sensors 3A and 3B provides a small and light rotation angle detection device
- the motor 50 for driving an automobile having a magnetic gap on the outer diameter side is magnetized at the inner diameter side position of the rotor 50a.
- Sensors 3A and 3B can be arranged.
- the rotation angle detection device can be incorporated in a compact manner without increasing the axial dimension of the motor 50 for driving the automobile.
- the sensor rotation angle detection device can be arranged on the inner diameter side of the motor rotor 50a, it is difficult to be affected by electromagnetic noise due to the leakage magnetic field of the motor, and stable detection is possible.
- the leakage magnetic field can be prevented from entering, and more stable detection can be achieved.
- the magnetic sensors 3A and 3B to be used are differential detection systems that detect magnetic phase information based on the magnetic field strength distribution in the magnetic poles of the magnetic encoder 2, the effects of noise such as leakage magnetic fields are eliminated. It is difficult to receive, and the angle of the magnetic encoder 2 can be accurately read and the angle can be calculated accurately. Since angle calculation processing circuits such as phase difference detection means 6, angle calculation means 7, and signal output means are incorporated in the sensor unit 3, there is no need to separately install an RD converter or the like in the motor control device.
- FIG. 11 shows another configuration example of the bearing 58 with the rotation angle detection device.
- the bearing 58 with the rotation angle detection device differs from the configuration example shown in FIG. 2 in that the bent portion of the cored bar 12 serving as a spacer is interposed between the two magnetic tracks 2A and 2B in the rotation angle detection device 1. 12aa is omitted.
- the fitting cylinder part 12b of the cored bar 12 fitted to the outer periphery of the inner ring 22 of the rolling bearing 21 has a larger diameter than the magnetic track installation part 12a.
- the core bar 12 of the magnetic encoder 2 is provided with a visible mark 19 such as a notch indicating a specific position of the magnetic poles of the magnetic tracks 2A and 2B.
- the mark 19 may be a symbol or a stamp.
- the specific position is, for example, an origin position that is one place on the entire circumference of the magnetic encoder 2.
- the core metal 12 of the magnetic encoder 2 is distinguished from the direction of rotation. It is preferable to apply a visible mark (not shown). Thereby, it is prevented that the rotation direction of the magnetic encoder 2 is erroneously attached to the output shaft 51. If the magnetic encoder 2 is not likely to be attached in the reverse direction in the rotational direction due to the asymmetric shape of the core 12, etc., there is no mark for distinguishing between the forward and reverse directions in the rotational direction. Good.
- This origin position registration function unit can be constituted by, for example, a part of the sensor module 25 or a nonvolatile memory (flash memory, EEPROM, fuse memory, etc.) provided on the circuit board 27 on which the magnetic sensors 3A and 3B are mounted. This stores the origin position information. According to this configuration, it is not necessary to mechanically adjust the initial phase, and it is only necessary to store it once during assembly. In addition, the readjustment can be completed only by memorizing.
- FIG. 12 shows another configuration example of the magnetic poles in the magnetic tracks 2A and 2B in the rotation angle detection device 1.
- the bent shape portion 12aa (FIG. 4) of the cored bar 12 that is interposed between two adjacent magnetic tracks 2A and 2B as a spacer for separating them is omitted.
- the width of the magnetic pole N, S 2Ba of one magnetic pole pair serving as the origin position in one magnetic track 2B is made narrower than the width of the magnetic poles N, S of the other magnetic track 2A.
- the other magnetic pole widths are the same between the two magnetic tracks 2A and 2B. Thereby, the origin position can be detected from the difference in the magnetic pole section between the magnetic tracks 2A and 2B.
- FIG. 13 is a partial cross-sectional view of a drive motor for a hybrid vehicle equipped with a bearing with a rotation angle detection device according to the second embodiment of the present invention.
- the magnetic encoder 2 of the rotation angle detection device 1 is provided with magnetic tracks 2 ⁇ / b> A on the axial end surface of the cored bar 12 that is a ring-shaped magnetic member.
- An axial type is used in which a plurality of 2B magnetic pole pairs are magnetized so as to be arranged at equal pitches in the circumferential direction.
- the two magnetic tracks 2A and 2B are arranged adjacent to the inner and outer peripheries.
- the magnetic sensors 3A and 3B are arranged in the axial direction facing the magnetized surface.
- the axial type magnetic tracks 2A and 2B are also attached to the inner ring 22 of the rolling bearing 21 through a common core 12 made of magnetic material.
- the cored bar 12 in this case includes a ring-shaped flat magnetic track installation portion 12a in which the magnetic tracks 2A and 2B are installed concentrically, and the magnetic track installation portion. It consists of the fitting cylinder part 12c extended in an axial direction from the inner diameter side end of 12a.
- the cored bar 12 is fixed to the inner ring 22 by fitting the fitting cylinder portion 12 c to the outer peripheral surface of the inner ring 22.
- the magnetic track mounting portion 12a of the cored bar 12 has two magnetic tracks 2A, 2B as spacers that are located between adjacent magnetic tracks 2A, 2B and separate the magnetic tracks 2A, 2B from each other.
- the portion 12aa is formed concentrically with the magnetic tracks 2A and 2B. Adjacent magnetic tracks 2A and 2B are separated by the bent portion 12aa.
- the sensor case 5 is fixed to the housing 56 of the drive motor 50.
- the sensor case 5 provided with the sensor module 25 has a sealed structure in which a surface facing the magnetic tracks 2A and 2B is formed of a nonmagnetic metal or resin material.
- a part of the circuit board 27 and the signal cable 37 on which the magnetic sensors 3A and 3B are mounted is sealed with an exterior of the nonmagnetic metal or resin material.
- Other points in the second embodiment are the same as those in the first embodiment shown in FIGS.
- FIGS. 15A to 15C show other configuration examples of the sensor case 5 in the bearing 58 with a rotation detection device according to the second embodiment of FIG.
- the sensor case 5 is an annular magnetic product centered on the central axis of the rolling bearing 21, and a stepped cylindrical portion 5a having a large diameter portion 5aa and a small diameter portion 5ab, and a small diameter portion of the cylindrical portion 5a. It consists of a flange 5b extending from the edge of 5ab to the inner diameter side.
- the molding part 30 is made of a material having rubber elasticity, and a rubber material or a thermoplastic elastomer is suitable.
- a rubber material nitrile rubber or fluororubber is desirable. These are excellent in heat resistance, low temperature characteristics, and oil resistance.
- thermoplastic elastomer vinyl chloride, ester and amide are desirable. These are excellent in heat resistance and oil resistance.
- FIG. 16 is a front view showing another configuration example of the rotation angle detection device in the second embodiment of FIG.
- the rotation angle detection device 1 in the configuration example shown in FIG. 13, the bent shape portion 12aa of the cored bar 12 that is interposed between the two magnetic tracks 2A and 2B and serves as a spacer is omitted.
- the rotation angle detection device of this example is the same as the configuration example of FIG. 13 in other points.
- FIG. 17 and 18 show a rotation angle detection device according to the second embodiment.
- the bearings 58 and 58 ⁇ / b> A with the rotation angle detection device mounted in the first embodiment shown in FIG. 1 are replaced with the rotation angle detection device 1. That is, in the hybrid vehicle equipped with the rotation angle detection device according to the second embodiment, the radial type magnetic track 2A shown in FIG. 18 is provided on the output shaft 51 of the drive motor 50 and the output shaft 55 of the generator. A magnetic encoder 2 having 2B is directly attached. Ordinary bearings 60 and 61 are installed at the installation portions of the bearings 58 and 58A (FIG. 1) with the rotation angle detection device.
- the rotation angle detection device 1 includes two radial cored magnetic tracks 2A and 2B provided on the outer periphery of the output shafts 51 and 55 in a ring shape concentric with the axis O in the axial direction. Two magnetic sensors 3A and 3B for detecting magnetic fields of the magnetic tracks 2A and 2B with the cored bar are provided.
- the magnetic sensors 3A and 3B are provided on the housing 56 of the driving motor 50 so as to face the magnetic tracks 2A and 2B with the cored bar in a radial direction (radial direction) through a minute gap. Between the adjacent cored magnetic tracks 2A and 2B, a ring-shaped spacer 42 made of a magnetic material separating the two is interposed. Other configurations are the same as those of the rotation angle detection device 1 of each embodiment described above.
- FIG. 19 is a cross-sectional view of a sensor assembly (that is, a sensor assembly part) that is a magnetic sensor side part in the rotation angle detection device according to the second embodiment of the present invention shown in FIG.
- the sensor assembly 43 includes magnetic sensors 3 ⁇ / b> A and 3 ⁇ / b> B, electrode terminals 45, a cable core wire 46, a cable insulation coating 47, and a cable cover 48. An essential part of the sensor assembly 43 is covered with an elastic member 49.
- the tip portions 3a of the magnetic sensors 3A and 3B face the magnetic encoder, and the electrode terminals 45 are electrically connected to the sensor terminals 3b of the magnetic sensors 3A and 3B.
- the extending direction of the sensor terminal 3b and the electrode terminal 45 is defined as the y direction
- the thickness direction of the electrode terminal 45 is defined as the z direction.
- the direction orthogonal to the y direction and the z direction is defined as the x direction.
- the cable core 46 is electrically connected to the tip of the electrode terminal 45 in the y direction, and a cable insulation coating 47 is provided to ensure electrical insulation of the cable core 46. Further, a cable cover 48 that covers the outside of the cable insulation coating 47 is provided.
- the electrode terminals 45 excluding the magnetic sensors 3A and 3B, the cable core wire 46, the cable insulation coating 47, and the cable cover 48 correspond to peripheral components.
- the elastic member 49 is made of, for example, a rubber material mixed with a vulcanizing agent and exhibiting rubber elasticity.
- the elastic member 49 covers the whole of the magnetic sensors 3A and 3B, the electrode terminal 45, the cable core wire 46, and the cable insulation coating 47 in a close contact state without a gap. Further, the elastic member 49 is configured to cover most of the cable cover 48 except for one end portion in the y direction in a close contact state without a gap.
- the rubber member used as the elastic member 49 for example, nitrile rubber and fluororubber are preferable because they are excellent in heat resistance, low temperature characteristics and oil resistance, but other rubber materials may be used.
- a thermoplastic elastomer may be used instead of these rubber materials.
- vinyl chloride, ester, and amide are particularly preferable because of their excellent heat resistance and oil resistance.
- the material for molding the sensor assembly 43 only needs to be a material exhibiting rubber elasticity, and is a mold compression molding described later shown in FIGS. 20 and 21.
- FIG. 20 is a cross-sectional view showing the stage before compression molding with the upper mold, the lower mold, the rubber material, and the sensor assembly mold.
- FIG. 21 is a cross-sectional view illustrating a state in which a sensor assembly and a rubber material are interposed between an upper mold and a lower mold.
- the molding procedure will be described below.
- the sensor assembly 43 is sandwiched and molded by a mold 62 including an upper mold 69 and a lower mold 70 together with a rubber material 49A mixed with a vulcanizing agent. That is, as shown in FIG. 20, the sensor assembly 43 is sandwiched between the upper mold 69 and the upper mold 70 together with the rubber material 49A mixed with the vulcanizing agent, and the sensor assembly is assembled between the upper mold 69 and the lower mold 70 as shown in FIG.
- the upper die 69 and the lower die 70 are heated for a predetermined time with 43 and the like completely sandwiched, and further pressure is applied to the sensor assembly 43 and the like to perform compression molding.
- Applicable molds are not limited to molds composed of upper molds and lower molds, but may be molds including upper molds and lower molds.
- the upper die 69 and the lower die 70 are heated for a certain period of time, but depending on the ambient temperature, the elapsed time since the end of the previous heating, etc., only one of the upper die 69 and the lower die 70 is used. May be heated for a certain period of time.
- the heating time of the mold 62 is not limited to a continuous constant time, and can be performed intermittently.
- the upper mold 69 and the lower mold 70 are configured so that a predetermined minute gap ⁇ is formed between the upper mold 69 and the lower mold 70 in a state where pressure is applied to a predetermined pressurization target.
- a predetermined minute gap ⁇ is formed between the upper mold 69 and the lower mold 70 in a state where pressure is applied to a predetermined pressurization target.
- the sensor assembly 43 is formed of the thermoplastic elastomer or the material 49A exhibiting rubber elasticity, so that the durability of the sensor assembly 43 can be enhanced. Even when vibration or external force is applied to the sensor assembly 43, problems such as damage can be prevented. Even when different thermal expansion occurs between the sensor assembly 43 and the elastic member 49 that is a molding material due to the environmental temperature and self-heating of the electronic component, the difference in thermal expansion can be absorbed by the elasticity of the elastic member 49. . Therefore, it is possible to prevent an undesired gap from being generated between the sensor assembly 43 and the elastic member 49, and the waterproofness of the sensor assembly 43 can be maintained. Since the molding is compression molding using a mold, a large number of sensor assemblies 43 can be manufactured by one molding. Therefore, it is possible to reduce the manufacturing cost of the sensor assembly 43 per unit time as compared with the conventional technique in which injection molding is performed.
- the upper mold 69 and the lower mold 70 are heated at a predetermined temperature. Since the rubber material 49A is softened and then pressure is applied between the upper die 69 and the lower die 70, the electronic components including the magnetic sensors 3A and 3B are pressed against the hard rubber before softening and are damaged. It can be prevented in advance.
- the upper die 69 and the lower die 70 are configured so as to form a predetermined minute gap ⁇ between the upper die 69 and the lower die 70 in a state where pressure is applied to the subject to be pressurized, the sensor assembly 43 or the like that is the subject of pressurization When the pressure is applied, excess rubber material 49 ⁇ / b> A can smoothly flow out of the mold 42.
- the rotational angle detection device 1 having the axial configuration in the second embodiment of FIG. 13 is arranged outside the support bearing 153 on the rear end side of the rotation output shaft 124 in the motor part B. 24, the double-row magnetic encoder 2 is fitted and fixed to the inner ring 154 of the support bearing 153, and the sensor module 25 including the magnetic sensors 3A and 3B at a position facing the magnetic encoder 2.
- the sensor case 5 is arranged.
- a sensor side member 157 is constituted by the sensor module 25 and the sensor support frame 156 holding the sensor case 5.
- the sensor side member 157 is attached to the motor housing 122 with bolts 158 and is positioned by being pressed against the end surface of the outer ring 155 of the support bearing 153.
- the sensor side member 157 is positioned in the radial direction by engaging a part of the sensor support frame 156 with the inner diameter surface of the bearing mounting hole of the motor housing 122 serving as the bearing housing. 157 is fixed and held so as to have a predetermined positional relationship with respect to the rotation output shaft 124 and the magnetic encoder 2.
- a reduction gear C is interposed between a wheel bearing A and a motor B of a vehicle, a hub of a driving wheel supported by the wheel bearing A, a rotation output shaft 124 of the driving motor B, Are connected on the same axis.
- the speed reducer C is a cycloid speed reducer, and the eccentric parts 132a and 132b of FIG. 23 are formed on the rotary input shaft 132 that is coaxially connected to the rotary output shaft 124 of the motor B, and the eccentric parts 132a and 132b are respectively bearings.
- Curved plates 134a and 134b are attached via 135, and the eccentric motion of the curved plates 134a and 134b is transmitted as a rotational motion to the wheel bearing A in FIG.
- the side closer to the outer side in the vehicle width direction of the vehicle when attached to the vehicle is referred to as the outboard side, and the side closer to the center of the vehicle is referred to as the inboard side.
- the wheel bearing A includes an outer member 101 in which a double row rolling surface 103 is formed on the inner periphery, an inner member 102 in which a rolling surface 104 facing each of the rolling surfaces 103 is formed on the outer periphery, and these
- the outer member 101 and the inner member 102 are constituted by a double row rolling element 105 interposed between the rolling surfaces 103 and 104 of the inner member 102.
- the inner member 102 also serves as a hub for attaching the drive wheels.
- the wheel bearing A is a double-row angular ball bearing, and the rolling elements 105 are formed of balls and are held by a cage 106 for each row.
- the outboard side end of the bearing space between the outer member 101 and the inner member 102 is sealed with a seal member 107.
- the outer member 101 is a stationary raceway, and has a flange 101a attached to the housing 133b on the outboard side of the reduction gear C, and the whole is an integral part.
- the flange 101a is provided with bolt insertion holes 114 at a plurality of locations in the circumferential direction.
- the housing 133b is provided with a bolt screwing hole 144 whose inner periphery is threaded at a position corresponding to the bolt insertion hole 114.
- the outer member 101 is attached to the housing 133b by screwing the attachment bolt 115 inserted into the bolt insertion hole 114 into the bolt screw hole 144.
- the inner member 102 is a rotating raceway, and the outboard side member 109 having a hub flange 109a for attaching a wheel and the inner side of the outboard side member 109 are fitted on the outboard side.
- the inboard side material 110 is integrated with the outboard side material 109 by fastening.
- the rolling surfaces 104 of the respective rows are formed on the outboard side material 109 and the inboard side material 110.
- a through hole 111 is provided in the center of the inboard side material 110.
- the hub flange 109a is provided with press-fitting holes 117 for hub bolts 116 at a plurality of locations in the circumferential direction.
- a cylindrical pilot portion 113 that guides drive wheels and braking components (not shown) protrudes toward the outboard side.
- a cap 118 that closes the outboard side end of the through hole 111 is attached to the inner periphery of the pilot portion 113.
- the speed reducer C is a cycloid speed reducer as described above, and two curved plates 134a and 134b formed with wavy trochoidal curves having a gentle outer shape as shown in FIG.
- the shaft 132 is attached to each eccentric portion 132a, 132b.
- a plurality of outer pins 136 for guiding the eccentric movement of each of the curved plates 134a and 134b on the outer peripheral side are provided across the housing 133b, and a plurality of inner pins 138 attached to the inboard side member 110 of the inner member 102 are provided.
- the curved plates 134a and 134b are engaged with a plurality of circular through holes 139 provided in the inserted state.
- the outer shape of the curved plates 134a and 134b may be a cycloid curve.
- the “cycloid speed reducer” referred to in this specification is a reduction gear including the curved plates 134a and 134b having a trochoidal curve or a cycloid curve, and the curved plates 134a and 134b, the outer pin 136 and the inner pin 138.
- the rotation input shaft 132 is spline-coupled with the rotation output shaft 124 of the drive motor B and rotates integrally.
- the rotary input shaft 32 is supported at both ends by two bearings 140 on the housing 133a on the inboard side and the inner diameter surface of the inboard side member 110 of the inner member 102.
- the two curved plates 134a and 134b are attached to the eccentric portions 132a and 132b of the rotary input shaft 32 so as to cancel the eccentric motion with each other, and are mounted on the opposite sides of the eccentric portions 132a and 132b.
- a counterweight 141 that is eccentric in the direction opposite to the eccentric direction of each eccentric part 132a, 132b is mounted so as to cancel the vibration caused by the eccentric movement of each curved plate 134a, 134b.
- Rolling bearings (not shown) are mounted on the outer pins 136 and the inner pins 138, and the outer rings of these bearings are in rolling contact with the outer circumferences of the curved plates 134a and 134b and the inner circumferences of the through holes 139, respectively. .
- the drive motor B in FIG. 22 is a radial gap type IPM motor (that is, a buried gap) in which a radial gap is provided between a motor stator 23 fixed to a cylindrical motor housing 22 and a motor rotor 25 attached to a rotary output shaft 124.
- Magnetic synchronous motor The rotation output shaft 124 is cantilevered by two bearings 126 on the cylindrical portion of the housing 133a on the inboard side of the reduction gear C.
- a coolant flow path 145 is provided in the peripheral wall portion of the motor housing 22.
- the motor stator 123 is cooled by flowing lubricating oil or a water-soluble coolant through the coolant channel 45.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
しかし、自動車用部品は、燃費向上のために小型,軽量化が強く求められる。回転角度検出装置においても、サイズを小さくして重量を減らすために、できるだけコンパクトに構成する必要があるが、従来のレゾルバでは対処が難しい。
自動車駆動用モータに広く使われているレゾルバは、コイルによる検出方式のVR型レゾルバであり、磁性材料の積層鋼板で構成されるため、重量もサイズも大きくなる。また、検出精度を確保するためには、レゾルバロータとレゾルバステータに高い加工精度が要求され、組み付け工程では相対位置を精度良く管理する必要がある。
自動車駆動用モータのロータの回転軸、またはこの回転軸と一体に回転する部材に前記磁気エンコーダを設置し、前記自動車駆動用モータのロータ角度を検出するものとする。磁気エンコーダの磁気トラックは、例えば2列または3列とされる。磁気トラックは、1回転の間にそれぞれの位相関係が繰り返して変化する構成でも良い。
その結果、自動車駆動用モータに使用しても、コパクトかつ軽量で、簡単に組み付けでき、外部に必要な電気回路や部品を極力少なくできる回転角度検出装置とすることができる。
このように、使用する磁気センサの検出方式を、磁気トラックの磁極内の磁界強度分布に基づいて磁気的な位相情報を検出する差動式の検出方式とすると、洩れ磁界などのノイズの影響を受けにくく、磁気トラックの信号を正確に読み取って、精度の良い絶対角度検出が可能となる。
この構成によると、絶対角度の検出機能を有しながら、自動車駆動用モータの部品点数、組立工数の削減、およびコンパクト化が図れる。また、組付け時にセンサギャップなどの調整も不要で、よりコンパクト化を図ることができる。
磁気トラック2A,2Bの他の構成例として、磁性体製とした芯金12に、磁性体粉が混入された樹脂を成形した樹脂成形体を設け、この樹脂成形体を、円周方向に交互に磁極を形成して樹脂磁石としても良い。
・磁気エンコーダ2と磁気センサ3A,3Bの構成により小型で軽量な回転角度検出装置となるため、外径側に磁気ギャップを配置した自動車駆動用モータ50においては、ロータ50aの内径側位置に磁気センサ3A,3Bを配置することが可能になる。
その結果、自動車駆動用モータ50の軸方向寸法を増加させることなく、コンパクトに回転角度検出装置を組み込むことができる。
・モータロータ50aの内径側にセンサ回転角度検出装置が配置できるため、モータの漏れ磁界による電磁ノイズの影響を受けにくく、安定した検出が可能になる。
・磁気センサ3A,3Bの背面に磁性板36を配置して組み込むことにより、漏れ磁界の侵入を防止することができ、より安定した検出が可能になる。
・使用する磁気センサ3A,3Bが、磁気エンコーダ2の磁極内の磁界強度分布に基づいて磁気的な位相情報を検出する、差動式の検出方式であるため、漏れ磁界などのノイズの影響を受けにくく、磁気エンコーダ2の信号を正確に読み取って、精度よく角度を算出することができる。
・センサユニット3の内部に位相差検出手段6,角度算出手段7,信号出力手段等の角度演算処理回路が組み込まれているので、モータの制御装置に別途RDコンバータなどを搭載する必要がなく、回路部品点数と搭載面積の削減、部品コストの低減が可能になる。
・センサユニット3からモータ制御装置間への情報は、ノイズに強いデジタル信号で伝達されるため、大きなモータノイズにも影響を受けにくい。さらに、シールドケーブルにより耐性を高めることで、信号伝達の信頼性を高めることができる。
・回転角度検出装置1を軸受21と一体化したため、センサギャップなどの調整も不要で、よりコンパクト化される。
2…磁気エンコーダ
2A,2B…磁気トラック
3…センサユニット
3A,3B…磁気センサ
5…センサケース
6…位相差検出手段
7…角度算出手段
8…信号出力手段
12…芯金
12aa…芯金の曲げ形状部(磁性体からなるスペーサ)
36…磁性板
42…スペーサ
51…出力軸(回転軸)
50a…モータロータ
50b…モータステータ
Claims (13)
- 同心のリング状に設けられて互いに磁極数が異なる複数の磁気トラックが形成された磁気エンコーダと、これら各磁気トラックの磁界をそれぞれ検出する複数の磁気センサとを備え、前記各磁気センサは磁気トラックの磁極内における位置の情報を検出する機能を有したものであり、前記各磁気センサの検出した磁界信号の位相差を求める位相差検出手段と、この検出した位相差に基づいて磁気エンコーダの絶対角度を算出する角度算出手段と、この算出した角度情報を外部に出力する信号出力手段とを設け、
自動車駆動用モータのロータの回転軸、またはこの回転軸と一体に回転する部材に前記磁気エンコーダを設置し、前記自動車駆動用モータのロータ角度を検出するものとする、自動車駆動用モータの回転角度検出装置。 - 請求項1において、前記磁気センサは、磁気トラックの磁極の並び方向に並べて配置された複数の磁気検出部を有し、それらの磁気検出部の出力を演算してsin およびcos の2相の信号を生成して、磁極内における位置を検出するものである自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記磁気センサ、位相差検出手段、角度算出手段、および信号出力手段が、集積回路に一体化されている自動駆動用モータの回転角度検出装置。
- 請求項1において、前記磁気センサがセンサケースに組み込まれ、磁気センサの背面には、少なくとも磁気センサよりも広い面積の磁性板が配置されている自動車駆動用モータの回転角度検出装置。
- 請求項1において、隣り合う磁気トラック間に磁性体からなるスペーサを介在させた自動車駆動用モータの回転角度検出装置。
- 請求項5において、前記各磁気トラックは、磁性体製の共通の板状芯金の表面に磁極を並べて設けられ、前記スペーサは前記板状芯金を折り曲げ加工して形成されている自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記各磁気トラックがゴム磁石またはプラスチック磁石からなる自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記各磁気トラックは、磁気トラックの磁極の並びの特定位置を示す目視可能なマークを有する自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記信号出力手段は信号ケーブルを有し、この信号ケーブルはシールド構造のものである自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記ロータの回転軸を支持する転がり軸受の内輪に前記磁気エンコーダを設置し、外輪に前記磁気センサを設置した自動車駆動用モータの回転角度検出装置。
- 請求項1において、前記自動車駆動用モータが、インホイール式の自動車駆動用モータである自動車駆動用モータの回転角度検出装置。
- 自動車駆動用モータのロータを回転自在に支持する軸受であって、請求項1に記載の回転角度検出装置を一体に取付けたことを特徴とする自動車駆動用モータの回転角度検出装置付き軸受。
- 請求項12において、前記軸受の回転輪となる内輪に、前記磁気エンコーダの原点位置を示す目視可能なマークが設けられている自動車駆動用モータの回転角度検出装置付き軸受。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/381,250 US20120105055A1 (en) | 2009-06-30 | 2010-06-24 | Rotation angle detector for automotive drive motor and bearing assembly equipped with the same |
EP10794055.3A EP2450661A4 (en) | 2009-06-30 | 2010-06-24 | ROTATING ANGLE DETECTION DEVICE FOR A VEHICLE DRIVE ENGINE AND STORAGE EQUIPPED WITH THE ROTATION ANGLE DETECTION DEVICE |
CN2010800292828A CN102472607A (zh) | 2009-06-30 | 2010-06-24 | 汽车驱动用电动机的旋转角度检测装置和安装有该旋转角度检测装置的轴承 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009-155150 | 2009-06-30 | ||
JP2009155150 | 2009-06-30 | ||
JP2010-114433 | 2010-05-18 | ||
JP2010114433A JP5671255B2 (ja) | 2009-06-30 | 2010-05-18 | 自動車駆動用モータの回転角度検出装置および回転角度検出装置付き軸受 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011001886A1 true WO2011001886A1 (ja) | 2011-01-06 |
Family
ID=43410961
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/060735 WO2011001886A1 (ja) | 2009-06-30 | 2010-06-24 | 自動車駆動用モータの回転角度検出装置およびこの回転角度検出装置を取付けた軸受 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20120105055A1 (ja) |
EP (1) | EP2450661A4 (ja) |
JP (1) | JP5671255B2 (ja) |
CN (1) | CN102472607A (ja) |
WO (1) | WO2011001886A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102664495A (zh) * | 2012-05-23 | 2012-09-12 | 东方电气集团东风电机有限公司 | 测速装置与电动车用电机的连接结构 |
WO2013034341A1 (de) * | 2011-09-07 | 2013-03-14 | Schaeffler Technologies AG & Co. KG | Wälzlager |
JP2018028295A (ja) * | 2016-08-18 | 2018-02-22 | 株式会社Ihi | 圧縮機 |
CN110657825A (zh) * | 2019-09-27 | 2020-01-07 | 成都宏明电子股份有限公司 | 一种防水、防腐蚀、防尘的磁敏角位移传感器 |
Families Citing this family (67)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013137204A (ja) * | 2011-12-28 | 2013-07-11 | Fuji Electric Co Ltd | エンコーダおよび位置補正装置 |
JP5973278B2 (ja) * | 2012-08-16 | 2016-08-23 | Ntn株式会社 | 磁気エンコーダの着磁装置 |
JP5984695B2 (ja) * | 2013-01-24 | 2016-09-06 | 三菱電機株式会社 | 回転角度検出器及び車両用回転電機 |
JP6104688B2 (ja) * | 2013-04-17 | 2017-03-29 | ナブテスコ株式会社 | 走行駆動装置 |
JP6333538B2 (ja) * | 2013-10-11 | 2018-05-30 | Ntn株式会社 | 磁気エンコーダ装置および回転検出装置 |
JP6227972B2 (ja) * | 2013-10-16 | 2017-11-08 | Ntn株式会社 | 磁気エンコーダ装置および回転検出装置 |
JP6206228B2 (ja) * | 2013-07-16 | 2017-10-04 | 株式会社デンソー | 回転センサ |
WO2015008622A1 (ja) * | 2013-07-16 | 2015-01-22 | Ntn株式会社 | 磁気エンコーダ装置および回転検出装置 |
JP6275406B2 (ja) * | 2013-07-16 | 2018-02-07 | Ntn株式会社 | 磁気エンコーダ装置および回転検出装置 |
CN106063090B (zh) * | 2014-03-06 | 2019-08-13 | 索尼公司 | 传动装置及机器人手臂装置 |
JP6383911B2 (ja) * | 2014-06-16 | 2018-09-05 | 多摩川精機株式会社 | ビルトイン型回転機、そのロータ逆取付防止構造およびレゾルバ |
US10222234B2 (en) | 2014-06-17 | 2019-03-05 | Infineon Technologies Ag | Rotation sensor |
CN107078669B (zh) * | 2014-09-19 | 2019-12-31 | 流量控制有限责任公司 | 自动填充控制技术 |
DE102014220783A1 (de) * | 2014-10-14 | 2016-04-14 | Robert Bosch Gmbh | Sensor zur Bestimmung mindestens einer Rotationseigenschaft eines rotierenden Elements |
FR3028901B1 (fr) * | 2014-11-26 | 2017-04-14 | Skf Ab | Roulement instrumente et procede de fabrication d'un tel roulement instrumente |
GB2532789B (en) * | 2014-11-28 | 2017-02-15 | Imp Innovations Ltd | Absolute rotary encoder |
SE538568C2 (en) * | 2014-12-19 | 2016-09-20 | Indexator Rotator Sys Ab | Rotator for a jib-carried tool |
DE102014019547B3 (de) * | 2014-12-23 | 2016-05-12 | Samson Ag | Drehmoment- und Winkelsensor und Stellantrieb |
JP6208160B2 (ja) * | 2015-02-04 | 2017-10-04 | 三菱電機株式会社 | 磁気式位置検出装置および磁気式位置検出方法 |
DE102015203861B4 (de) * | 2015-03-04 | 2018-07-12 | Schaeffler Technologies AG & Co. KG | Sensoreinrichtung für ein Wälzlager sowie Wälzlageranordnung mit einer derartigen Sensoreinrichtung |
JP6449090B2 (ja) * | 2015-04-15 | 2019-01-09 | Ntn株式会社 | 磁気エンコーダの着磁装置 |
GB2540598B (en) * | 2015-07-22 | 2020-12-16 | Cmr Surgical Ltd | Position sensors |
CN108260350B (zh) | 2015-07-22 | 2021-10-26 | Cmr外科有限公司 | 用于机器人手臂的齿轮封装 |
GB2540756B (en) | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Gear packaging for robot arms |
GB2541369B (en) | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
US9934682B2 (en) | 2016-01-05 | 2018-04-03 | TollSense, LLC | Systems and methods for monitoring roadways using magnetic signatures |
US10672266B2 (en) | 2016-01-05 | 2020-06-02 | TollSense, LLC | Systems and methods for monitoring roadways using magnetic signatures |
JP6682931B2 (ja) * | 2016-03-16 | 2020-04-15 | 日本精工株式会社 | トルク測定装置付回転伝達装置 |
US10476420B2 (en) | 2016-04-13 | 2019-11-12 | Dana Automotive Systems Group, Llc | Brushless direct current motor with a ring magnet |
DE102016206409A1 (de) * | 2016-04-15 | 2017-10-19 | Continental Teves Ag & Co. Ohg | Radsensoraufnahme und Radsensorsystem zur Montage an einer Fahrzeugachse |
JP6759751B2 (ja) * | 2016-06-23 | 2020-09-23 | 日立金属株式会社 | 回転検出装置及びセンサ付きケーブル |
CN106225813B (zh) * | 2016-07-07 | 2018-08-17 | 航天鑫创自控装备发展有限公司 | 编码器磁钢结构、编码器以及窗口余数区间判断矫正算法 |
CN106197482B (zh) * | 2016-07-07 | 2018-06-26 | 航天鑫创自控装备发展股份有限公司 | 有限转角编码器磁钢结构及具有该磁钢结构的编码器 |
GB2552385B (en) * | 2016-07-22 | 2021-09-15 | Cmr Surgical Ltd | Calibrating position sensor readings |
GB2552386B (en) * | 2016-07-22 | 2022-06-08 | Cmr Surgical Ltd | Magnetic position sensor mounting arrangement |
JP2018072192A (ja) * | 2016-10-31 | 2018-05-10 | Ntn株式会社 | 角度検出装置 |
JP2018124189A (ja) * | 2017-02-02 | 2018-08-09 | Ntn株式会社 | 磁気エンコーダ並びにその製造方法および製造装置 |
JP6937128B2 (ja) * | 2017-02-02 | 2021-09-22 | Ntn株式会社 | 磁気エンコーダおよびその製造方法 |
JP7203485B2 (ja) | 2017-02-02 | 2023-01-13 | Ntn株式会社 | 検出装置およびその製造方法 |
JP6877168B2 (ja) * | 2017-02-14 | 2021-05-26 | 日本電産サンキョー株式会社 | ロータリエンコーダ及びその絶対角度位置検出方法 |
JP6877170B2 (ja) * | 2017-02-14 | 2021-05-26 | 日本電産サンキョー株式会社 | ロータリエンコーダ及びその絶対角度位置検出方法 |
JP6477933B2 (ja) | 2017-04-25 | 2019-03-06 | 日本精工株式会社 | 回転角度検出装置及び回転角度検出方法 |
JP7139644B2 (ja) * | 2017-09-15 | 2022-09-21 | 日本電産株式会社 | 電動ホイール |
JP7006107B2 (ja) * | 2017-10-04 | 2022-01-24 | 株式会社デンソー | モータ制御装置 |
US10773548B2 (en) * | 2017-10-10 | 2020-09-15 | Aktiebolaget Skf | Wheel hub assembly having dual angular position sensors |
CN109649082B (zh) | 2017-10-10 | 2023-09-08 | 斯凯孚公司 | 具有双角位置传感器的轮毂组件 |
JP6984454B2 (ja) * | 2018-02-01 | 2021-12-22 | 日本精工株式会社 | モータ制御システム |
JP7085851B2 (ja) * | 2018-02-07 | 2022-06-17 | 日本電産サンキョー株式会社 | 位置検出装置および位置検出方法 |
CN108400732A (zh) * | 2018-03-16 | 2018-08-14 | 西北工业大学 | 一种直流无刷电机或交流永磁同步电机转子位置检测装置 |
JP7106960B2 (ja) * | 2018-04-17 | 2022-07-27 | 日本精工株式会社 | ケーブル巻取システム |
RU188545U1 (ru) * | 2018-08-27 | 2019-04-16 | Акционерное общество "Научно-производственный центр "Полюс" | Емкостный дифференциальный датчик угла поворота вала |
CN109752111A (zh) * | 2019-01-23 | 2019-05-14 | 杭州嘉诚机械有限公司 | 简易便携式减速机专用轴温检测模块及检测方法 |
JP7272836B2 (ja) * | 2019-03-19 | 2023-05-12 | 住友重機械工業株式会社 | センサ、センサ固定構造 |
WO2021029305A1 (ja) * | 2019-08-09 | 2021-02-18 | Smc株式会社 | 磁気式エンコーダ |
JP7018045B2 (ja) * | 2019-09-06 | 2022-02-09 | ジェコー株式会社 | アクチュエータ及び排気バルブ駆動装置 |
CN112577412A (zh) * | 2019-09-27 | 2021-03-30 | 罗伯特·博世有限公司 | 运行轮运行参数检测装置、轮毂电机和交通工具 |
US20220403897A1 (en) * | 2019-10-31 | 2022-12-22 | Inventus Engineering Gmbh | Magnetorheological brake device, in particular an operating device |
CN111207925B (zh) * | 2020-01-15 | 2021-12-07 | 江西宏伟轴承有限公司 | 一种高精度轴承噪音检测装置 |
KR102536972B1 (ko) * | 2020-01-17 | 2023-05-26 | 주식회사 일진글로벌 | 복수의 센싱부를 갖는 휠속도 센서를 구비하는 휠베어링 |
RU202950U1 (ru) * | 2020-02-04 | 2021-03-16 | Акционерное общество "Конструкторское бюро точного машиностроения имени А.Э. Нудельмана" | Дифференциальный емкостной датчик ограниченного угла поворота вала |
CN111397638A (zh) * | 2020-04-08 | 2020-07-10 | 深圳市晶丰弘实业有限公司 | 一种电动机测速用编码器码盘制备工艺 |
DE102020206479A1 (de) * | 2020-05-25 | 2021-11-25 | Aktiebolaget Skf | Verfahren zum Herstellen einer Sensorlagereinheit |
RU200279U1 (ru) * | 2020-05-27 | 2020-10-15 | Акционерное общество "Научно-производственный центр "Полюс" | Емкостный дифференциальный датчик угла поворота вала |
CN113758513B (zh) * | 2020-06-04 | 2022-11-04 | 杭州海康威视数字技术股份有限公司 | 设备中磁性编码器精度检测方法及电子设备 |
CN112013884B (zh) * | 2020-08-24 | 2022-04-15 | 成都长城开发科技有限公司 | 计量数据抖动的确定方法 |
US11923728B2 (en) | 2020-12-17 | 2024-03-05 | Waymo Llc | Method of determining runout |
KR102506405B1 (ko) * | 2021-01-22 | 2023-03-06 | 주식회사 에스앤에이 | 자기식 엔코더를 이용한 각도 측정 시스템, 그 측정 방법 및 그 각도 측정 시스템의 파라미터 설정 방법 |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0297604U (ja) * | 1989-01-20 | 1990-08-03 | ||
JPH06324061A (ja) * | 1993-05-12 | 1994-11-25 | Nippon Seiko Kk | 回転速度検出装置付転がり軸受 |
JPH074989A (ja) * | 1993-06-16 | 1995-01-10 | Yokogawa Electric Corp | リング磁石の着磁装置 |
JPH07198415A (ja) * | 1993-12-28 | 1995-08-01 | Matsushita Electric Ind Co Ltd | 磁気センサおよびそれを用いた磁気式エンコーダ |
JP2001078393A (ja) | 1999-09-08 | 2001-03-23 | Aisin Seiki Co Ltd | レゾルバを備えた回転機械 |
JP2003527541A (ja) * | 1999-07-23 | 2003-09-16 | エスケイエフ フランス | 計測用ころがり軸受装置 |
JP2007223481A (ja) | 2006-02-23 | 2007-09-06 | Toyo Tire & Rubber Co Ltd | 空気入りタイヤ |
JP2007336714A (ja) | 2006-06-15 | 2007-12-27 | Toyota Motor Corp | レゾルバセンサの固定構造 |
JP2008197046A (ja) | 2007-02-15 | 2008-08-28 | Aisan Ind Co Ltd | レゾルバ |
JP2008215835A (ja) | 2007-02-28 | 2008-09-18 | Aisan Ind Co Ltd | レゾルバ、及び自動車駆動モータ用レゾルバ |
JP2008233069A (ja) | 2007-02-23 | 2008-10-02 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
JP2008267868A (ja) * | 2007-04-17 | 2008-11-06 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3182305A (en) * | 1962-02-15 | 1965-05-04 | Mach Tool Automation Inc | Vernier digital encoder |
JP2001264006A (ja) * | 2000-03-17 | 2001-09-26 | Koganei Corp | 位置検出装置およびその製造方法 |
JP2003270062A (ja) * | 2002-03-13 | 2003-09-25 | Koyo Seiko Co Ltd | 回転角度検出装置、トルク検出装置及び舵取装置 |
JP4492176B2 (ja) * | 2004-03-26 | 2010-06-30 | 株式会社デンソー | 回転式アクチュエータ |
JP4803786B2 (ja) * | 2004-06-30 | 2011-10-26 | 内山工業株式会社 | トーンホイールの着磁方法及び着磁装置 |
US7772836B2 (en) * | 2005-04-18 | 2010-08-10 | Ntn Corporation | Device for detecting absolute angle of multiple rotation and angle detection method |
JP2007085889A (ja) * | 2005-09-22 | 2007-04-05 | Ntn Corp | 回転検出装置付き軸受 |
JP2007113932A (ja) * | 2005-10-18 | 2007-05-10 | Harmonic Drive Syst Ind Co Ltd | ギヤ付きモータの多回転絶対値エンコーダ |
JP2007195344A (ja) * | 2006-01-19 | 2007-08-02 | Jtekt Corp | モータ |
DE102006026543B4 (de) * | 2006-06-07 | 2010-02-04 | Vogt Electronic Components Gmbh | Lagegeber und zugehöriges Verfahren zum Erfassen einer Position eines Läufers einer Maschine |
JP2008075789A (ja) * | 2006-09-22 | 2008-04-03 | Ntn Corp | インホイール型モータ内蔵センサ付き車輪用軸受装置 |
-
2010
- 2010-05-18 JP JP2010114433A patent/JP5671255B2/ja not_active Expired - Fee Related
- 2010-06-24 WO PCT/JP2010/060735 patent/WO2011001886A1/ja active Application Filing
- 2010-06-24 EP EP10794055.3A patent/EP2450661A4/en not_active Withdrawn
- 2010-06-24 US US13/381,250 patent/US20120105055A1/en not_active Abandoned
- 2010-06-24 CN CN2010800292828A patent/CN102472607A/zh active Pending
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0297604U (ja) * | 1989-01-20 | 1990-08-03 | ||
JPH06324061A (ja) * | 1993-05-12 | 1994-11-25 | Nippon Seiko Kk | 回転速度検出装置付転がり軸受 |
JPH074989A (ja) * | 1993-06-16 | 1995-01-10 | Yokogawa Electric Corp | リング磁石の着磁装置 |
JPH07198415A (ja) * | 1993-12-28 | 1995-08-01 | Matsushita Electric Ind Co Ltd | 磁気センサおよびそれを用いた磁気式エンコーダ |
JP2003527541A (ja) * | 1999-07-23 | 2003-09-16 | エスケイエフ フランス | 計測用ころがり軸受装置 |
JP2001078393A (ja) | 1999-09-08 | 2001-03-23 | Aisin Seiki Co Ltd | レゾルバを備えた回転機械 |
JP2007223481A (ja) | 2006-02-23 | 2007-09-06 | Toyo Tire & Rubber Co Ltd | 空気入りタイヤ |
JP2007336714A (ja) | 2006-06-15 | 2007-12-27 | Toyota Motor Corp | レゾルバセンサの固定構造 |
JP2008197046A (ja) | 2007-02-15 | 2008-08-28 | Aisan Ind Co Ltd | レゾルバ |
JP2008233069A (ja) | 2007-02-23 | 2008-10-02 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
JP2008215835A (ja) | 2007-02-28 | 2008-09-18 | Aisan Ind Co Ltd | レゾルバ、及び自動車駆動モータ用レゾルバ |
JP2008267868A (ja) * | 2007-04-17 | 2008-11-06 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2450661A4 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013034341A1 (de) * | 2011-09-07 | 2013-03-14 | Schaeffler Technologies AG & Co. KG | Wälzlager |
CN102664495A (zh) * | 2012-05-23 | 2012-09-12 | 东方电气集团东风电机有限公司 | 测速装置与电动车用电机的连接结构 |
JP2018028295A (ja) * | 2016-08-18 | 2018-02-22 | 株式会社Ihi | 圧縮機 |
CN110657825A (zh) * | 2019-09-27 | 2020-01-07 | 成都宏明电子股份有限公司 | 一种防水、防腐蚀、防尘的磁敏角位移传感器 |
CN110657825B (zh) * | 2019-09-27 | 2024-05-14 | 成都宏明电子股份有限公司 | 一种防水、防腐蚀、防尘的磁敏角位移传感器 |
Also Published As
Publication number | Publication date |
---|---|
CN102472607A (zh) | 2012-05-23 |
JP2011027719A (ja) | 2011-02-10 |
EP2450661A4 (en) | 2015-12-30 |
EP2450661A1 (en) | 2012-05-09 |
US20120105055A1 (en) | 2012-05-03 |
JP5671255B2 (ja) | 2015-02-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5671255B2 (ja) | 自動車駆動用モータの回転角度検出装置および回転角度検出装置付き軸受 | |
JP5583317B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
US7509883B2 (en) | Torque detecting apparatus and manufacturing method thereof | |
JP5081553B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
US8286507B2 (en) | Torque sensor arrangement | |
TWI579533B (zh) | Absolute encoder devices and motors | |
JP5349157B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
WO2010029742A1 (ja) | 回転検出装置および回転検出装置付き軸受 | |
US10312839B2 (en) | Brushless DC motor with control electronics motor assembly | |
JP2015038514A (ja) | 軸貫通非接触の多回転絶対位置磁気センサ | |
US7999534B2 (en) | Rotation sensor with detection signal timing cycle features | |
JP2008267868A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2009069092A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP5161010B2 (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2006090831A (ja) | 回転センサ付軸受 | |
JP2008267867A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2010066141A (ja) | 回転検出装置および回転検出装置付き軸受 | |
JP2004301685A (ja) | 回転角度検出装置 | |
JP2018072192A (ja) | 角度検出装置 | |
JP5424253B2 (ja) | 磁気エンコーダ及び回転検出装置 | |
WO2022264204A1 (ja) | 磁気式ロータリーエンコーダ | |
JP4039996B2 (ja) | 回転角度検出装置 | |
JP2012008073A (ja) | センサ付き転がり軸受 | |
JP2008076063A (ja) | 回転センサ付き軸受装置 | |
JP2005077190A (ja) | 回転角度検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080029282.8 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10794055 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13381250 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REEP | Request for entry into the european phase |
Ref document number: 2010794055 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010794055 Country of ref document: EP |