WO2018107342A1 - Reflective angular displacement optical encoder - Google Patents

Reflective angular displacement optical encoder Download PDF

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Publication number
WO2018107342A1
WO2018107342A1 PCT/CN2016/109538 CN2016109538W WO2018107342A1 WO 2018107342 A1 WO2018107342 A1 WO 2018107342A1 CN 2016109538 W CN2016109538 W CN 2016109538W WO 2018107342 A1 WO2018107342 A1 WO 2018107342A1
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WO
WIPO (PCT)
Prior art keywords
angular displacement
optical encoder
scale
code wheel
displacement optical
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PCT/CN2016/109538
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French (fr)
Chinese (zh)
Inventor
毛宏亮
侯林涛
刘长城
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2016/109538 priority Critical patent/WO2018107342A1/en
Priority to CN201680086762.5A priority patent/CN109313044A/en
Publication of WO2018107342A1 publication Critical patent/WO2018107342A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales

Definitions

  • Embodiments of the present invention relate to the technical field of angular displacement optical encoders, and more particularly to a reflective angular displacement optical encoder.
  • Reflective angular displacement optical encoders are widely used in various angular displacement measurement applications.
  • the principle is to emit light to the code wheel through the light-emitting device, and the light enters the photoelectric conversion device after being reflected by the code wheel.
  • the code wheel 01 has a scale layer with a light and dark interval, and the reflectance of the bright scale layer 011 is higher than that of the dark scale layer 012, so the light intensity entering the photoelectric conversion device when the code wheel 01 rotates will continuously After the change, the electrical signal generated by the photoelectric converter can be accurately detected to detect how many angles the code wheel has rotated.
  • the code wheel 01 is a cylinder, and a scale layer of light and dark is disposed on the circular surface of the code wheel 01.
  • the infrared detector 02 emits infrared rays to the code wheel 01, and the angular displacement detection is realized by detecting the change of the light intensity reflected back.
  • the bright scale layer 011 of the code wheel 01 is mostly made of steel material or metal plating material, so that the reflectance of the bright scale layer 011 to the infrared ray is much larger than the reflectance of the dark scale layer 012 to the infrared ray, so that the infrared detector 02 receives the bright scale.
  • Layer 011 and dark scale layer 012 reflect different intensities of infrared light.
  • the infrared detector 02 and the code wheel 01 are arranged in the axial direction in sequence, the infrared detector 02 needs to occupy a certain height, and the code wheel 01 needs to occupy a certain height, and a certain height is required between the two, resulting in the technology. It requires a large space in the axial direction, which is not conducive to the compact design of the system;
  • Scale layer width practical circumference length / number of scales. When the number of scales is constant, the closer to the center scale layer, the narrower it is. In order to ensure clear detection, it is necessary to ensure that the scale layer width of the inner ring is larger than the minimum detectable. The width limits the resolution of the entire reflective angular displacement optical encoder.
  • Embodiments of the present invention provide a reflective angular displacement optical encoder, which is relatively compact and can accurately measure the angular displacement of a motor rotor.
  • an embodiment of the present invention provides a reflective angular displacement optical encoder comprising a code wheel and an infrared detector, wherein the code wheel comprises a code disc body, and the code disc body is a columnar body structure, The sidewall is equally divided into a plurality of scale regions in the circumferential direction, and the scale region is filled with a clear scale layer or a dark scale layer, and the bright scale layer and the dark scale layer are alternately arranged; the infrared detector is disposed along the radial direction of the code wheel body. On one side of the code wheel, the infrared ray emitted by the infrared detector is reflected by the bright scale layer or the dark scale layer and is reflected and received by the infrared detector.
  • the reflective angular displacement optical encoder rotates the code wheel with the rotor of the motor coaxially, and the infrared detector emits infrared rays, infrared rays and the sidewalls disposed on the main body of the code wheel body.
  • the bright scale layer or the dark scale layer is reflected after contact, and since the reflectance of the bright scale layer and the dark scale layer to the infrared rays are different, the infrared detector receives different infrared rays, thereby calculating the rotor of the motor.
  • Angular displacement is reflected after contact, and since the reflectance of the bright scale layer and the dark scale layer to the infrared rays are different, the infrared detector receives different infrared rays, thereby calculating the rotor of the motor.
  • the reflective angular displacement optical encoder since the infrared detector is disposed on one side of the code wheel in the radial direction of the code wheel main body, the reflective angular displacement optical encoder has a small size in the axial direction, and the structure is relatively compact, and the device is convenient to implement. Light and thin.
  • the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code disc main body, the maximum circumference of the code disc main body is utilized, so that the designer can directly set the scale layer according to the maximum circumference of the code disc main body. The number to ensure the resolution of the code wheel.
  • the scale layer is disposed on the upper/lower bottom surface of the main body of the code disc and extends along the radial direction of the bottom surface, so that
  • the code disc provided by the technique has an accuracy determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the radii of the circle smaller than the circumference of the main body of the code disc;
  • the scale layer and the dark scale layer are filled to cover the scale area, so that the widths of the scale layer and the dark scale layer are the same as the width of the scale area, and the width of the scale area is formed by the circumference of the code wheel body, so the embodiment of the invention
  • the resolution of the provided code disc is much larger than the resolution of the code wheel provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the angular displacement of the rotor of the motor during use.
  • the central axis of the code wheel body is parallel to the edge of the scale area in the height direction. Filling the bright scale layer or the dark scale layer covering the scale area at the same width dimension in the circumferential direction of the code disc body is convenient for observation and measurement calculation.
  • one of the bright scale layers is formed A bright scale layer having a concave structure, and the concave structure is recessed toward the center of the code wheel body.
  • the bright-scale layer with a concave structure has a much higher reflectivity than other bright-scale layers, which helps to calibrate the absolute zero.
  • the motor in conjunction with any of the possible implementations of the first aspect, includes an upper rotor and a lower rotor, and the upper or lower rotor is a code wheel body.
  • the size of the reflective angular displacement optical encoder system in the axial direction is further reduced, and the compactness of the system is improved.
  • the code disc body is made of a PCB substrate, and a plurality of metal layers are formed on the sidewall of the code disc body by an electroplating process.
  • the metal layer is a bright scale layer of the code wheel.
  • the bright scale layer is a metal layer disposed on the PCB substrate, and the dark scale layer is a PCB substrate between two bright scale layers.
  • the metal layer has a high reflectivity to infrared rays, and the PCB substrate has a high reflectance to infrared rays. Low, can accurately reflect the rotation of the main body of the code disc.
  • the code wheel body may be a cylinder or a positive prism.
  • the motor is a PCB motor disposed on the motor drive board, and one side of the PCB motor is provided with an infrared detector, the infrared detector Securely attached to the motor drive board.
  • the infrared detector is attached to the motor drive plate by soldering.
  • the plurality of bright scale layers form a plurality of bright scale layers having a concave structure, and the plurality of concave surface structures are all directed to the code disc body The center of the depression.
  • the bright scale layer of multiple concave structures enables self-calibration of the rotation process, making the measurement results more accurate.
  • the infrared detector comprises a light emitting device capable of emitting infrared rays and a photoelectric conversion device capable of receiving infrared rays, and the infrared rays emitted by the light emitting device are clearly scaled After the layer or dark scale layer is reflected, it enters the photoelectric conversion device and generates an electrical signal.
  • the illuminating device of the infrared detector emits infrared rays, and the infrared ray is reflected to the bright scale layer or the dark scale layer, and the photoelectric conversion device receives the reflected infrared ray to generate an analog voltage, and the magnitude of the analog voltage reflects the reflectance. A more intuitive test result is obtained.
  • FIG. 1 is a schematic structural view of a reflective angular displacement optical encoder provided by the prior art
  • FIG. 2 is a schematic structural diagram of a reflective angular displacement optical encoder according to an embodiment of the present invention
  • FIG. 3 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a reflective angular displacement optical encoder having an absolute zero calibration function according to an embodiment of the present invention
  • FIG. 6 is a top view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a bright scale layer has a concave structure;
  • FIG. 7 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer and is reflected;
  • FIG. 8 is a top view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer having a concave structure and is reflected;
  • FIG. 9 is a front view of a reflective angular displacement optical encoder applied to a PCB motor according to an embodiment of the present invention.
  • FIG. 10 is a perspective view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
  • FIG. 11 is a top view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
  • FIG. 12 is a top view of a reflective prismatic optical encoder according to an embodiment of the present invention, wherein the code disc body has a positive prism, and one of the bright scale layers has a concave structure.
  • the reflective angular displacement optical encoder has a system architecture as shown in FIG. 2 to FIG. 4, and includes a code wheel 1 and an infrared detector 2.
  • the code wheel 1 includes a code wheel body 11 of a columnar structure, and a code wheel.
  • the sidewall of the main body 11 is equally divided into a plurality of scale regions along the circumferential direction thereof, and the scale region is filled with a clear scale layer 12 or a dark scale layer 13 and the bright scale layer 12 and the dark scale layer 13 are alternately arranged;
  • the infrared detector 2 is along The radial direction of the dial main body 11 is disposed on one side of the code wheel 1.
  • the infrared ray emitted from the infrared detector 2 is reflected by the bright scale layer 12 or the dark scale layer 13 and is received by the infrared detector 2.
  • the code wheel 1 rotates coaxially with the rotor of the motor, and the infrared detector 2 emits infrared rays, infrared rays and is disposed on the main body 11 of the code wheel.
  • the bright scale layer 12 or the dark scale layer 13 on the side wall is reflected after being contacted. Since the reflectance of the bright scale layer 12 and the dark scale layer 13 to the infrared rays is different, the intensity of the infrared light received by the infrared detector 2 is different. This calculates the angular displacement of the rotor of the motor.
  • the reflective angular displacement optical encoder since the infrared detector 2 is disposed on one side of the code wheel 1 in the radial direction of the code wheel main body 11, the reflective angular displacement optical encoder has a small size in the axial direction and a compact structure. It is easy to realize the thin and light equipment.
  • the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code wheel main body 11, the maximum circumference of the code disc main body 11 is utilized, so that the designer can directly set according to the maximum circumference of the code disc main body 11. The number of scale layers to ensure the resolution of the code wheel 1.
  • the scale layer is disposed on the upper/lower bottom surface of the code disc main body 11 and extends in the radial direction of the bottom surface. Therefore, the precision of the code disc provided by the prior art is determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the unequal division of the radius of the main body 11 of the code disc body 11; 1.
  • the widths of the scale layer 12 and the dark scale layer 13 are the same as the width of the scale area, and the width of the scale area is defined by the circumference of the code wheel body 11.
  • the resolution of the code disc 1 provided by the embodiment of the present invention is far greater than the resolution of the code disc provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the rotor of the motor during use. Angular displacement.
  • the edge of the scale area in the height direction is parallel to the central axis of the code wheel main body 11. Since the scale area is formed by equally dividing the side wall of the code wheel main body 11, when the edge of the scale area in the height direction is parallel to the axial direction of the code wheel main body 11, it is formed.
  • the same scale area at each width dimension makes the width dimension of the bright scale layer 12 or the dark scale layer 13 covering the scale area also the same, so that it is only necessary to ensure that the width dimension of the scale area is larger than the minimum detectable width. It is possible to ensure the resolution of the reflective angular displacement optical encoder, which is advantageous for observation and measurement calculations and the like.
  • one of the bright scale layers 12 is recessed toward the center of the code wheel main body 11 to form a concave structure 121.
  • the bright scale layer 12 having the concave structure 121 has a much higher reflectance than the other bright scale layers 12, and thus the infrared ray received by the infrared detector 2 is more strongly reflected by the concave structure 121, thereby calibrating the absolute zero.
  • Absolute zero is the semaphore used to assist the period in which the statistic disk 1 is rotated. It is also called the absolute zero signal. In detail, it can be used as a starting bit. When it is rotated to this position every week, there will be A different pulse signal indicates that this particular position has passed.
  • the absolute zero signal can be used as a marker for a particular position of the device or as a start bit for recounting after many weeks of continuous rotation.
  • the axial dimension of the system is an important criterion for measuring the compactness of the system.
  • the code wheel body 11 is the upper rotor 31 or the lower rotor 32 of the motor 3.
  • the size of the system in which the reflective angular displacement optical encoder is mounted is reduced by one code wheel.
  • the height further reduces the size of the system in the axial direction and increases the compactness of the system.
  • the code body 11 is made of a PCB substrate, and the bright scale layer 12 is a metal layer formed on the sidewall of the code body 11 by an electroplating process.
  • the bright scale layer 12 is a metal layer disposed on the PCB substrate, and the dark scale layer 13 is a PCB substrate between the two bright scale layers 12, the metal layer has a high reflectivity to infrared rays, and the PCB substrate has infrared rays. The reflectance is very low, so that the code wheel 1 can accurately reflect the rotation of the code wheel main body 11 during use.
  • the metal layer of the sidewall of the dark scale layer 13 can be completely removed (for example, milling using a milling machine, etc.).
  • the method can also perform the detachable cover protection on the scale area where the dark scale layer 13 is located before plating, and then plate the whole side wall of the code wheel, and remove the scale area covering the dark scale layer 13 after the plating is finished.
  • the protective structure on the top can form alternating light and dark Scale layer.
  • the code body 11 is a cylinder or a regular prism.
  • the cylinder is simple to make and easy to obtain, and the number of scale zones can be flexibly set according to actual needs.
  • the edge of the positive prism is parallel to its central axis and perpendicular to the upper and lower bottom surfaces, and the side wall of the positive prism is composed of a plurality of rectangles of the same size, so that the side wall of the positive prism can directly form a scale area, which is convenient for filling and covering the bright scale layer 12 and Dark scale layer 13.
  • the code wheel main body 11 is a positive prism, and the number of edges of the positive prism is the same as the total number of the bright scale layer 12 and the dark scale layer 13, that is, the structure of the positive prism.
  • the plurality of rectangles of the side wall of the dial main body 11 only one bright scale layer 12 or one dark scale layer 13 is provided on each rectangle, so that the scale layer can be more easily filled to cover the scale area.
  • the motor 3 is a PCB motor
  • the PCB motor is disposed on the motor driving board 4, and the infrared detector 2 is fixedly connected to The motor is driven on the board 4.
  • the motor driving board 4 can improve the stability of the PCB motor when rotating.
  • the stator (not shown) of the PCB motor is first fixed on the motor driving board 4, and then the upper rotor 31 and the lower rotor 32 are along the stator.
  • the stator is clamped axially, which keeps the relative position of the stator fixed while the PCB motor is running, and does not malfunction, thereby improving the stability of the PCB motor during operation.
  • the infrared detector 2 fixed to the motor driving board 4 does not have a relative shift between the encoder 1 and the code wheel 1 during use, thereby ensuring the accuracy of the detection result.
  • the infrared detector 2 is first fixed on the motor driving board 4 after assembly, and then the motor driving board 4 is assembled in the device. At this time, the infrared detector 2 can be fixed on a relatively wide installation space such as a console. Connected to the motor drive board 4, this makes the assembly of the infrared detector 2 less difficult.
  • the infrared detector 2 is soldered to the motor drive board.
  • the welding method is fast and the connection reliability is high, which is beneficial to improve the assembly efficiency.
  • a plurality of bright scale layers 12 are recessed toward the center of the code wheel body 11 to form a plurality of concave structures 121.
  • the bright scale layer 12 having the concave structure 121 has a reflectance much larger than that of the other bright scale layers 12, and when the code wheel main body 11 rotates, when the bright scale layer 12 having the concave structure 121 is rotated to oppose the infrared detector 2, the infrared The detector 2 receives a strong infrared ray, thereby generating a higher voltage signal.
  • the infrared detector 2 continuously generates a plurality of higher voltage signals, and the system can be based on a plurality of higher voltages. Signal to achieve turn The process is self-calibrating to make the measurement results more accurate.
  • the infrared detector 2 includes a light emitting device and a photoelectric conversion device.
  • the light emitting device emits infrared rays and is reflected by the bright scale layer 12 or the dark scale layer 13, and the reflected light enters the photoelectric conversion device to generate an electrical signal.
  • the light emitting device of the infrared detector 2 emits infrared rays, and the infrared rays are irradiated to the bright scale layer 12 or the dark scale layer 13 to be reflected, and the photoelectric conversion device receives the reflected infrared rays to generate an analog voltage, and the magnitude of the voltage reacts to the scale layer to the infrared rays.

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Abstract

Disclosed is a reflective angular displacement optical encoder, comprising an encoding disk (1) and an infrared detector (2). The encoding disk (1) comprises an encoding disk body (11) of a cylinder structure, a side wall of the encoding disk body (11) is equally divided in a circumferential direction into a plurality of scale areas filled with and covered by bright scale layers (12) or dark scale layers (13), wherein the bright scale layers (12) and dark scale layers (13) are alternately arranged. The infrared detector (2) is arranged on one side of the encoding disk (1) in a radial direction of the encoding disk body (11), and infrared rays emitted by the infrared detector (2) come into contact with the bright scale layers (12) or the dark scale layers (13), and then are reflected and received by the infrared detector (2). The reflective angular displacement optical encoder solves the problems of the reflective angular displacement optical encoder taking up a large space and having a low resolution in the prior art, and can accurately measure the angular displacement of a rotor of a motor.

Description

一种反射式角位移光编码器Reflective angular displacement optical encoder 技术领域Technical field
本发明实施例涉及角位移光编码器的技术领域，尤其涉及一种反射式角位移光编码器。Embodiments of the present invention relate to the technical field of angular displacement optical encoders, and more particularly to a reflective angular displacement optical encoder.
背景技术Background technique
反射式角位移光编码器广泛应用于各类角位移测量场合，其原理是通过发光器件向码盘发射光线，经过码盘反射后光线进入光电转换器件。如图1所示，码盘01上有明暗间隔的刻度层，明刻度层011的反射率高于暗刻度层012的反射率，因此在码盘01转动时进入光电转换器件的光线强度会不断变化，光电转换器产生的电信号经过整形后即可精确检测出码盘转动了多少角度。Reflective angular displacement optical encoders are widely used in various angular displacement measurement applications. The principle is to emit light to the code wheel through the light-emitting device, and the light enters the photoelectric conversion device after being reflected by the code wheel. As shown in FIG. 1 , the code wheel 01 has a scale layer with a light and dark interval, and the reflectance of the bright scale layer 011 is higher than that of the dark scale layer 012, so the light intensity entering the photoelectric conversion device when the code wheel 01 rotates will continuously After the change, the electrical signal generated by the photoelectric converter can be accurately detected to detect how many angles the code wheel has rotated.
码盘01为圆柱体，且在码盘01的圆面上设置有明暗相间的刻度层，红外检测器02发射红外线到码盘01，通过检测反射回来的光线强度变化实现角度位移检测。其中码盘01的明刻度层011大多采用钢材料或者金属镀层材料，以使明刻度层011对红外线的反射率远大于暗刻度层012对红外线的反射率，使得红外检测器02接收到明刻度层011和暗刻度层012反射出的不同强度的红外线。The code wheel 01 is a cylinder, and a scale layer of light and dark is disposed on the circular surface of the code wheel 01. The infrared detector 02 emits infrared rays to the code wheel 01, and the angular displacement detection is realized by detecting the change of the light intensity reflected back. The bright scale layer 011 of the code wheel 01 is mostly made of steel material or metal plating material, so that the reflectance of the bright scale layer 011 to the infrared ray is much larger than the reflectance of the dark scale layer 012 to the infrared ray, so that the infrared detector 02 receives the bright scale. Layer 011 and dark scale layer 012 reflect different intensities of infrared light.
然而，上述反射式角位移光编码器在使用中存在以下问题：However, the above-mentioned reflective angular displacement optical encoder has the following problems in use:
(1)由于红外检测器02和码盘01在轴向上依次排列，红外检测器02需要占用一定高度，码盘01需要占用一定高度，两者之间还需要留一定配高，导致该技术在轴向需要占用较大空间，不利于***的紧凑化设计；(1) Since the infrared detector 02 and the code wheel 01 are arranged in the axial direction in sequence, the infrared detector 02 needs to occupy a certain height, and the code wheel 01 needs to occupy a certain height, and a certain height is required between the two, resulting in the technology. It requires a large space in the axial direction, which is not conducive to the compact design of the system;
(2)刻度层宽度＝实用圆周长/刻度数量，在刻度数量不变的情况下，越靠近圆心刻度层越窄，为了保证能够清晰地检测，需要保证内圈的刻度层宽度大于最小可检测宽度，限制了整个反射式角位移光编码器的分辨率。 (2) Scale layer width = practical circumference length / number of scales. When the number of scales is constant, the closer to the center scale layer, the narrower it is. In order to ensure clear detection, it is necessary to ensure that the scale layer width of the inner ring is larger than the minimum detectable. The width limits the resolution of the entire reflective angular displacement optical encoder.
发明内容Summary of the invention
本发明实施例提供一种反射式角位移光编码器，***较为紧凑且能够精确测量出马达转子的角位移。Embodiments of the present invention provide a reflective angular displacement optical encoder, which is relatively compact and can accurately measure the angular displacement of a motor rotor.
为达到上述目的，第一方面，本发明的实施例提供了一种反射式角位移光编码器，包括码盘和红外检测器，码盘包括码盘主体，码盘主体为柱状体结构，其侧壁沿周向被等分形成多个刻度区，刻度区内填充覆盖有明刻度层或暗刻度层，且明刻度层和暗刻度层交替设置；红外检测器沿码盘主体的径向设置于码盘的一侧，红外检测器发射出的红外线与明刻度层或暗刻度层接触后被反射并被红外检测器接收。In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a reflective angular displacement optical encoder comprising a code wheel and an infrared detector, wherein the code wheel comprises a code disc body, and the code disc body is a columnar body structure, The sidewall is equally divided into a plurality of scale regions in the circumferential direction, and the scale region is filled with a clear scale layer or a dark scale layer, and the bright scale layer and the dark scale layer are alternately arranged; the infrared detector is disposed along the radial direction of the code wheel body. On one side of the code wheel, the infrared ray emitted by the infrared detector is reflected by the bright scale layer or the dark scale layer and is reflected and received by the infrared detector.
相较于现有技术，本发明实施例提供的反射式角位移光编码器，码盘随马达的转子同轴转动的同时，红外检测器发出红外线，红外线与设置于码盘主体的侧壁上的明刻度层或暗刻度层接触后被反射，由于明刻度层和暗刻度层对红外线的反射率不同，因此红外检测器接收到的红外线强弱程度不同，由此可计算出马达的转子的角位移。在本发明中，由于红外检测器沿码盘主体的径向设置于码盘的一侧，因而该反射式角位移光编码器在轴向方向上的尺寸较小，结构较为紧凑，便于实现设备的轻薄化。同时，由于该反射式角位移光编码器的刻度层设置于码盘主体的侧壁上，利用了码盘主体的最大圆周，因而设计人员可直接根据码盘主体的最大圆周来设置刻度层的数目，以确保码盘的分辨率。且在码盘主体的尺寸和刻度层数目相同的情况下，现有技术提供的码盘中，刻度层设置于码盘主体的上/下底面上并沿该底面的径向方向延伸，因而现有技术提供的码盘，其精度由刻度层靠近上/下底面的圆心处的宽度决定，该宽度由半径小于码盘主体的圆周等分形成；而本发明实施例提供的码盘，由于明刻度层和暗刻度层填充覆盖于刻度区内，因而明刻度层和暗刻度层的宽度与刻度区的宽度相同，而刻度区的宽度由码盘主体的圆周等分形成，因此本发明实施例提供的码盘的分辨率远大于现有技术提供的码盘的分辨率，使得该反射式角位移光编码器在使用过程中能够精确测量出马达的转子的角位移。Compared with the prior art, the reflective angular displacement optical encoder provided by the embodiment of the invention rotates the code wheel with the rotor of the motor coaxially, and the infrared detector emits infrared rays, infrared rays and the sidewalls disposed on the main body of the code wheel body. The bright scale layer or the dark scale layer is reflected after contact, and since the reflectance of the bright scale layer and the dark scale layer to the infrared rays are different, the infrared detector receives different infrared rays, thereby calculating the rotor of the motor. Angular displacement. In the present invention, since the infrared detector is disposed on one side of the code wheel in the radial direction of the code wheel main body, the reflective angular displacement optical encoder has a small size in the axial direction, and the structure is relatively compact, and the device is convenient to implement. Light and thin. At the same time, since the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code disc main body, the maximum circumference of the code disc main body is utilized, so that the designer can directly set the scale layer according to the maximum circumference of the code disc main body. The number to ensure the resolution of the code wheel. And in the case that the size of the main body of the code disc and the number of the scale layers are the same, in the code disc provided by the prior art, the scale layer is disposed on the upper/lower bottom surface of the main body of the code disc and extends along the radial direction of the bottom surface, so that The code disc provided by the technique has an accuracy determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the radii of the circle smaller than the circumference of the main body of the code disc; The scale layer and the dark scale layer are filled to cover the scale area, so that the widths of the scale layer and the dark scale layer are the same as the width of the scale area, and the width of the scale area is formed by the circumference of the code wheel body, so the embodiment of the invention The resolution of the provided code disc is much larger than the resolution of the code wheel provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the angular displacement of the rotor of the motor during use.
在第一种可能实现的方式中，结合第一方面，码盘主体的中心轴平行于刻度区在高度方向上的边沿。填充覆盖于刻度区内的明刻度层或暗刻度层沿码盘主体的周向方向的宽度尺寸处处相同，便于观察及测量计算等。In a first possible implementation, in combination with the first aspect, the central axis of the code wheel body is parallel to the edge of the scale area in the height direction. Filling the bright scale layer or the dark scale layer covering the scale area at the same width dimension in the circumferential direction of the code disc body is convenient for observation and measurement calculation.
在第二种可能实现的方式中，结合第一方面，其中一个明刻度层形成具 有凹面结构的明刻度层，且凹面结构向码盘主体的中心凹陷。具有凹面结构的明刻度层反射率远大于其他明刻度层的反射率，从而有利于标定出绝对零位。In a second possible implementation, in combination with the first aspect, one of the bright scale layers is formed A bright scale layer having a concave structure, and the concave structure is recessed toward the center of the code wheel body. The bright-scale layer with a concave structure has a much higher reflectivity than other bright-scale layers, which helps to calibrate the absolute zero.
在第三种可能实现的方式中，结合第一方面的任意一种可能实现的方式，马达包括上转子和下转子，且上转子或下转子为码盘主体。进一步减小反射式角位移光编码器***在轴向方向上的尺寸，提高***的紧凑程度。In a third possible implementation, in conjunction with any of the possible implementations of the first aspect, the motor includes an upper rotor and a lower rotor, and the upper or lower rotor is a code wheel body. The size of the reflective angular displacement optical encoder system in the axial direction is further reduced, and the compactness of the system is improved.
在第四种可能实现的方式中，结合第一方面的任意一种可能实现的方式，码盘主体由PCB基材制成，且该码盘主体的侧壁上通过电镀工艺形成有若干金属层，该金属层为码盘的明刻度层。明刻度层为设置于PCB基材上的金属层，暗刻度层为两个明刻度层之间的PCB基材，金属层对红外线的反射率很高，而PCB基材对红外线的反射率很低，能够准确反应出码盘主体的转动情况。In a fourth possible implementation manner, in combination with any of the possible implementations of the first aspect, the code disc body is made of a PCB substrate, and a plurality of metal layers are formed on the sidewall of the code disc body by an electroplating process. The metal layer is a bright scale layer of the code wheel. The bright scale layer is a metal layer disposed on the PCB substrate, and the dark scale layer is a PCB substrate between two bright scale layers. The metal layer has a high reflectivity to infrared rays, and the PCB substrate has a high reflectance to infrared rays. Low, can accurately reflect the rotation of the main body of the code disc.
在第五种可能实现的方式中，结合第一方面的任意一种可能实现的方式，码盘主体可以为圆柱体，也可以为正棱柱。In a fifth possible implementation manner, in combination with any of the possible implementations of the first aspect, the code wheel body may be a cylinder or a positive prism.
在第六种可能实现的方式中，结合第一方面的任意一种可能实现的方式，马达为设置于电机驱动板上的PCB马达，PCB马达的一侧设置有红外检测器，该红外检测器固连于电机驱动板上。In a sixth possible implementation manner, in combination with any of the possible implementations of the first aspect, the motor is a PCB motor disposed on the motor drive board, and one side of the PCB motor is provided with an infrared detector, the infrared detector Securely attached to the motor drive board.
在第七种可能实现的方式中，结合第一方面的第六种可能实现的方式，红外检测器通过焊接方式固连于电机驱动板上。In a seventh possible implementation, in combination with the sixth possible implementation of the first aspect, the infrared detector is attached to the motor drive plate by soldering.
在第八种可能实现的方式中，结合第一方面的任意一种可能实现的方式，多个明刻度层形成多个具有凹面结构的明刻度层，且这多个凹面结构均向码盘主体的中心凹陷。多个凹面结构的明刻度层可实现转动过程自校准，使测量结果更为精确。In an eighth possible implementation manner, in combination with any of the possible implementations of the first aspect, the plurality of bright scale layers form a plurality of bright scale layers having a concave structure, and the plurality of concave surface structures are all directed to the code disc body The center of the depression. The bright scale layer of multiple concave structures enables self-calibration of the rotation process, making the measurement results more accurate.
在第九种可能实现的方式中，结合第一方面的任意一种可能实现的方式，红外检测器包括可发出红外线的发光器件以及可接收红外线的光电转换器件，发光器件发出的红外线被明刻度层或暗刻度层反射后，进入光电转换器件并产生电信号。红外检测器的发光器件发射出红外线，红外线照射到明刻度层或暗刻度层后被反射，光电转换器件接收反射回来的红外线，生成一个模拟电压，该模拟电压的大小反应反射率的大小，从而得出较为直观的检测结果。 In a ninth possible implementation manner, in combination with any of the possible implementations of the first aspect, the infrared detector comprises a light emitting device capable of emitting infrared rays and a photoelectric conversion device capable of receiving infrared rays, and the infrared rays emitted by the light emitting device are clearly scaled After the layer or dark scale layer is reflected, it enters the photoelectric conversion device and generates an electrical signal. The illuminating device of the infrared detector emits infrared rays, and the infrared ray is reflected to the bright scale layer or the dark scale layer, and the photoelectric conversion device receives the reflected infrared ray to generate an analog voltage, and the magnitude of the analog voltage reflects the reflectance. A more intuitive test result is obtained.
附图说明DRAWINGS
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.
图1为现有技术提供的一种反射式角位移光编码器的结构示意图；1 is a schematic structural view of a reflective angular displacement optical encoder provided by the prior art;
图2为本发明实施例提供的反射式角位移光编码器的结构示意图；2 is a schematic structural diagram of a reflective angular displacement optical encoder according to an embodiment of the present invention;
图3为本发明实施例提供的反射式角位移光编码器的俯视图；3 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention;
图4为本发明实施例提供的反射式角位移光编码器的码盘的立体图；4 is a perspective view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention;
图5为本发明实施例提供的反射式角位移光编码器具有绝对零位标定功能的结构示意图；FIG. 5 is a schematic structural diagram of a reflective angular displacement optical encoder having an absolute zero calibration function according to an embodiment of the present invention; FIG.
图6为本发明实施例提供的反射式角位移光编码器的码盘的俯视图，其中一个明刻度层具有凹面结构；6 is a top view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a bright scale layer has a concave structure;
图7为本发明实施例提供的反射式角位移光编码器的俯视图，其中红外检测器发出的光束与明刻度层接触并被反射；7 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer and is reflected;
图8为本发明实施例提供的反射式角位移光编码器的俯视图，其中红外检测器发出的光束与具有凹面结构的明刻度层接触并被反射；8 is a top view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer having a concave structure and is reflected;
图9为本发明实施例提供的反射式角位移光编码器应用于PCB马达上的主视图；9 is a front view of a reflective angular displacement optical encoder applied to a PCB motor according to an embodiment of the present invention;
图10为本发明实施例提供的反射式角位移光编码器的码盘主体为正棱柱时的立体图；FIG. 10 is a perspective view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
图11为本发明实施例提供的反射式角位移光编码器的码盘主体为正棱柱时的俯视图；FIG. 11 is a top view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
图12为本发明实施例提供的反射式角位移光编码器的码盘主体为正棱柱时的俯视图，且其中一个明刻度层具有凹面结构。FIG. 12 is a top view of a reflective prismatic optical encoder according to an embodiment of the present invention, wherein the code disc body has a positive prism, and one of the bright scale layers has a concave structure.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是 全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, instead of All embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明实施例提供的反射式角位移光编码器，***架构如图2至图4所示，包括码盘1和红外检测器2，码盘1包括柱状体结构的码盘主体11，码盘主体11的侧壁沿其周向等分为多个刻度区，刻度区内填充覆盖有明刻度层12或暗刻度层13，且明刻度层12和暗刻度层13交替设置；红外检测器2沿码盘主体11的径向设置于码盘1的一侧，红外检测器2发射出的红外线与明刻度层12或暗刻度层13接触后被反射并被红外检测器2接收。The reflective angular displacement optical encoder provided by the embodiment of the present invention has a system architecture as shown in FIG. 2 to FIG. 4, and includes a code wheel 1 and an infrared detector 2. The code wheel 1 includes a code wheel body 11 of a columnar structure, and a code wheel. The sidewall of the main body 11 is equally divided into a plurality of scale regions along the circumferential direction thereof, and the scale region is filled with a clear scale layer 12 or a dark scale layer 13 and the bright scale layer 12 and the dark scale layer 13 are alternately arranged; the infrared detector 2 is along The radial direction of the dial main body 11 is disposed on one side of the code wheel 1. The infrared ray emitted from the infrared detector 2 is reflected by the bright scale layer 12 or the dark scale layer 13 and is received by the infrared detector 2.
相较于现有技术，本发明实施例提供的反射式角位移光编码器，码盘1随马达的转子同轴转动的同时，红外检测器2发出红外线，红外线与设置于码盘主体11的侧壁上的明刻度层12或暗刻度层13接触后被反射，由于明刻度层12和暗刻度层13对红外线的反射率不同，因此红外检测器2接收到的红外线强弱程度不同，由此可计算出马达的转子的角位移。在本发明中，由于红外检测器2沿码盘主体11的径向设置于码盘1的一侧，因而该反射式角位移光编码器在轴向方向上的尺寸较小，结构较为紧凑，便于实现设备的轻薄化。同时，由于该反射式角位移光编码器的刻度层设置于码盘主体11的侧壁上，利用了码盘主体11的最大圆周，因而设计人员可直接根据码盘主体11的最大圆周来设置刻度层的数目，以确保码盘1的分辨率。且在码盘主体11的尺寸和刻度层数目相同的情况下，现有技术提供的码盘中，刻度层设置于码盘主体11的上/下底面上并沿该底面的径向方向延伸，因而现有技术提供的码盘，其精度由刻度层靠近上/下底面的圆心处的宽度决定，该宽度由半径小于码盘主体11的圆周等分形成；而本发明实施例提供的码盘1，由于明刻度层12和暗刻度层13填充覆盖于刻度区内，因而明刻度层12和暗刻度层13的宽度与刻度区的宽度相同，而刻度区的宽度由码盘主体11的圆周等分形成，因此本发明实施例提供的码盘1的分辨率远大于现有技术提供的码盘的分辨率，使得该反射式角位移光编码器在使用过程中能够精确测量出马达的转子的角位移。Compared with the prior art, in the reflective angular displacement optical encoder provided by the embodiment of the present invention, the code wheel 1 rotates coaxially with the rotor of the motor, and the infrared detector 2 emits infrared rays, infrared rays and is disposed on the main body 11 of the code wheel. The bright scale layer 12 or the dark scale layer 13 on the side wall is reflected after being contacted. Since the reflectance of the bright scale layer 12 and the dark scale layer 13 to the infrared rays is different, the intensity of the infrared light received by the infrared detector 2 is different. This calculates the angular displacement of the rotor of the motor. In the present invention, since the infrared detector 2 is disposed on one side of the code wheel 1 in the radial direction of the code wheel main body 11, the reflective angular displacement optical encoder has a small size in the axial direction and a compact structure. It is easy to realize the thin and light equipment. At the same time, since the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code wheel main body 11, the maximum circumference of the code disc main body 11 is utilized, so that the designer can directly set according to the maximum circumference of the code disc main body 11. The number of scale layers to ensure the resolution of the code wheel 1. In the case where the size of the code disc main body 11 and the number of the scale layers are the same, in the code disc provided by the prior art, the scale layer is disposed on the upper/lower bottom surface of the code disc main body 11 and extends in the radial direction of the bottom surface. Therefore, the precision of the code disc provided by the prior art is determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the unequal division of the radius of the main body 11 of the code disc body 11; 1. Since the bright scale layer 12 and the dark scale layer 13 are filled to cover the scale area, the widths of the scale layer 12 and the dark scale layer 13 are the same as the width of the scale area, and the width of the scale area is defined by the circumference of the code wheel body 11. The resolution of the code disc 1 provided by the embodiment of the present invention is far greater than the resolution of the code disc provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the rotor of the motor during use. Angular displacement.
为降低检测难度，如图2和图4所示，刻度区在高度方向上的边沿平行于码盘主体11的中心轴。由于刻度区是将码盘主体11的侧壁等分形成的，因此当刻度区的在高度方向上的边沿平行于码盘主体11的轴向时，会形成 一个个宽度尺寸处处相同的刻度区，这使得填充覆盖于刻度区内的明刻度层12或暗刻度层13的宽度尺寸也处处相同，因而只需确保刻度区的宽度尺寸大于最小可检测宽度，就能够确保该反射式角位移光编码器的分辨率，有利于观察及测量计算等。To reduce the difficulty of detection, as shown in FIGS. 2 and 4, the edge of the scale area in the height direction is parallel to the central axis of the code wheel main body 11. Since the scale area is formed by equally dividing the side wall of the code wheel main body 11, when the edge of the scale area in the height direction is parallel to the axial direction of the code wheel main body 11, it is formed. The same scale area at each width dimension makes the width dimension of the bright scale layer 12 or the dark scale layer 13 covering the scale area also the same, so that it is only necessary to ensure that the width dimension of the scale area is larger than the minimum detectable width. It is possible to ensure the resolution of the reflective angular displacement optical encoder, which is advantageous for observation and measurement calculations and the like.
为实现检测过程中对绝对零位的标记，如图5至图8所示，其中一个明刻度层12向码盘主体11的中心凹陷，形成凹面结构121。具有凹面结构121的明刻度层12反射率远大于其他明刻度层12的反射率，因而红外检测器2接收到的由该凹面结构121反射出的红外线较强，从而标定出绝对零位。绝对零位是用来辅助统计码盘1转过的周期的信号量，又称为绝对零位信号，详细来说就是可以作为一个起始位，当每周旋转到这一位置时就会有一个不同的脉冲信号，表示又经过了这个特殊位置。绝对零位信号可以作为设备特殊位置的一种标记使用，也可以作为连续旋转很多周以后的重新计数的起始位使用。To realize the marking of the absolute zero during the detection, as shown in FIGS. 5 to 8, one of the bright scale layers 12 is recessed toward the center of the code wheel main body 11 to form a concave structure 121. The bright scale layer 12 having the concave structure 121 has a much higher reflectance than the other bright scale layers 12, and thus the infrared ray received by the infrared detector 2 is more strongly reflected by the concave structure 121, thereby calibrating the absolute zero. Absolute zero is the semaphore used to assist the period in which the statistic disk 1 is rotated. It is also called the absolute zero signal. In detail, it can be used as a starting bit. When it is rotated to this position every week, there will be A different pulse signal indicates that this particular position has passed. The absolute zero signal can be used as a marker for a particular position of the device or as a start bit for recounting after many weeks of continuous rotation.
***的轴向尺寸是衡量***紧凑程度的重要标准，为进一步提高该***的紧凑程度，如图9所示，码盘主体11为马达3的上转子31或下转子32。相较于码盘1与转子分开设置的情况，将码盘1与待测转子整合在一起后，安装有该反射式角位移光编码器的***在轴向上的尺寸减少了一个码盘的高度，进一步减小了***在轴向方向上的尺寸，提高了***的紧凑程度。The axial dimension of the system is an important criterion for measuring the compactness of the system. To further increase the compactness of the system, as shown in FIG. 9, the code wheel body 11 is the upper rotor 31 or the lower rotor 32 of the motor 3. Compared with the case where the code wheel 1 and the rotor are separately arranged, after the code wheel 1 is integrated with the rotor to be tested, the size of the system in which the reflective angular displacement optical encoder is mounted is reduced by one code wheel. The height further reduces the size of the system in the axial direction and increases the compactness of the system.
为降低刻度层填充覆盖的难度，码盘主体11采用PCB基材制成，明刻度层12为采用电镀工艺形成于码盘主体11的侧壁上的金属层。明刻度层12为设置于PCB基材上的金属层，暗刻度层13为两个明刻度层12之间的PCB基材，金属层对红外线的反射率很高，而PCB基材对红外线的反射率很低，因而该码盘1在使用过程中能够准确反应出码盘主体11的转动情况。In order to reduce the difficulty of filling the scale layer, the code body 11 is made of a PCB substrate, and the bright scale layer 12 is a metal layer formed on the sidewall of the code body 11 by an electroplating process. The bright scale layer 12 is a metal layer disposed on the PCB substrate, and the dark scale layer 13 is a PCB substrate between the two bright scale layers 12, the metal layer has a high reflectivity to infrared rays, and the PCB substrate has infrared rays. The reflectance is very low, so that the code wheel 1 can accurately reflect the rotation of the code wheel main body 11 during use.
需要说明的是，在对码盘主体11的侧壁进行电镀时，可采用先对侧壁整体金属化，再把暗刻度层13所在刻度区的金属层加工去除(如使用铣床铣除等)的方式；也可以在电镀前先将暗刻度层13所在的刻度区进行可拆除的覆盖保护，然后对码盘的侧壁整体进行电镀，电镀结束后去除覆盖于暗刻度层13所在的刻度区上的保护结构，就可以形成明暗交替的 刻度层。It should be noted that when the sidewall of the code wheel body 11 is plated, the metal layer of the sidewall of the dark scale layer 13 can be completely removed (for example, milling using a milling machine, etc.). The method can also perform the detachable cover protection on the scale area where the dark scale layer 13 is located before plating, and then plate the whole side wall of the code wheel, and remove the scale area covering the dark scale layer 13 after the plating is finished. The protective structure on the top can form alternating light and dark Scale layer.
可选地，如图2至图8、以及图10至图12所示，码盘主体11为圆柱体或正棱柱。圆柱体制作工艺简单，易于取得，且能够根据实际需求灵活设置刻度区的数目。正棱柱的棱边与其中心轴线平行且垂直于上下底面，且正棱柱的侧壁由多个大小相同的矩形构成，因而正棱柱的侧壁可直接形成刻度区，便于填充覆盖明刻度层12和暗刻度层13。Alternatively, as shown in FIGS. 2 to 8 and 10 to 12, the code body 11 is a cylinder or a regular prism. The cylinder is simple to make and easy to obtain, and the number of scale zones can be flexibly set according to actual needs. The edge of the positive prism is parallel to its central axis and perpendicular to the upper and lower bottom surfaces, and the side wall of the positive prism is composed of a plurality of rectangles of the same size, so that the side wall of the positive prism can directly form a scale area, which is convenient for filling and covering the bright scale layer 12 and Dark scale layer 13.
优选地，如图10至图12所示，码盘主体11为正棱柱，且该正棱柱的棱边数目与明刻度层12和暗刻度层13的总数相同，也即构成该正棱柱结构的码盘主体11的侧壁的多个矩形中，每个矩形上仅设置一个明刻度层12或一个暗刻度层13，使得刻度层能够更容易地填充覆盖于刻度区内。Preferably, as shown in FIG. 10 to FIG. 12, the code wheel main body 11 is a positive prism, and the number of edges of the positive prism is the same as the total number of the bright scale layer 12 and the dark scale layer 13, that is, the structure of the positive prism. Among the plurality of rectangles of the side wall of the dial main body 11, only one bright scale layer 12 or one dark scale layer 13 is provided on each rectangle, so that the scale layer can be more easily filled to cover the scale area.
为确保加装有该反射式角位移光编码器的***能够稳定工作，如图9所示，当马达3为PCB马达时，PCB马达设置于电机驱动板4上，红外检测器2固连于电机驱动板4上。电机驱动板4可提高PCB马达转动时的稳定性，组装时先将PCB马达的定子(图中未示出)固定于该电机驱动板4上，然后将上转子31和下转子32沿定子的轴向将定子夹持起来，这使得该PCB马达运转时定子的相对位置保持固定，不会出现错动，从而提高了PCB马达运转时的稳定性。固连于电机驱动板4上的红外检测器2在使用过程中不会与码盘1之间出现相对错动，确保了检测结果的准确性。In order to ensure stable operation of the system equipped with the reflective angular displacement optical encoder, as shown in FIG. 9, when the motor 3 is a PCB motor, the PCB motor is disposed on the motor driving board 4, and the infrared detector 2 is fixedly connected to The motor is driven on the board 4. The motor driving board 4 can improve the stability of the PCB motor when rotating. When assembling, the stator (not shown) of the PCB motor is first fixed on the motor driving board 4, and then the upper rotor 31 and the lower rotor 32 are along the stator. The stator is clamped axially, which keeps the relative position of the stator fixed while the PCB motor is running, and does not malfunction, thereby improving the stability of the PCB motor during operation. The infrared detector 2 fixed to the motor driving board 4 does not have a relative shift between the encoder 1 and the code wheel 1 during use, thereby ensuring the accuracy of the detection result.
优选地，组装时先将红外检测器2固连于电机驱动板4上后再将电机驱动板4组装于设备内，此时可在操作台等较为开阔的安装空间上将红外检测器2固连于电机驱动板4上，这使得红外检测器2的组装难度较小。Preferably, the infrared detector 2 is first fixed on the motor driving board 4 after assembly, and then the motor driving board 4 is assembled in the device. At this time, the infrared detector 2 can be fixed on a relatively wide installation space such as a console. Connected to the motor drive board 4, this makes the assembly of the infrared detector 2 less difficult.
具体地，红外检测器2焊接于电机驱动板上。焊接方式成形快且连接可靠性较高，有利于提高组装效率。Specifically, the infrared detector 2 is soldered to the motor drive board. The welding method is fast and the connection reliability is high, which is beneficial to improve the assembly efficiency.
可选地，多个明刻度层12向码盘主体11的中心凹陷，形成多个凹面结构121。具有凹面结构121的明刻度层12反射率远大于其他明刻度层12的反射率，码盘主体11转动时，当具有凹面结构121的明刻度层12转动至与红外检测器2相对时，红外检测器2接收到较强的红外线，从而产生较高的电压信号，码盘主体11转动一周时，红外检测器2连续产生多个较高的电压信号，***根据可根据多个较高的电压信号来实现转 动过程自校准，使测量结果更为精确。Optionally, a plurality of bright scale layers 12 are recessed toward the center of the code wheel body 11 to form a plurality of concave structures 121. The bright scale layer 12 having the concave structure 121 has a reflectance much larger than that of the other bright scale layers 12, and when the code wheel main body 11 rotates, when the bright scale layer 12 having the concave structure 121 is rotated to oppose the infrared detector 2, the infrared The detector 2 receives a strong infrared ray, thereby generating a higher voltage signal. When the code wheel body 11 rotates once, the infrared detector 2 continuously generates a plurality of higher voltage signals, and the system can be based on a plurality of higher voltages. Signal to achieve turn The process is self-calibrating to make the measurement results more accurate.
红外检测器2包括发光器件以及光电转换器件，发光器件发出红外线后被明刻度层12或暗刻度层13反射，反射后的光线进入光电转换器件产生电信号。红外检测器2的发光器件发射出红外线，红外线照射到明刻度层12或暗刻度层13后被反射，光电转换器件接收反射回来的红外线，生成一个模拟电压，电压的大小反应刻度层对红外线的反射率的大小，从而得出较为直观的检测结果。The infrared detector 2 includes a light emitting device and a photoelectric conversion device. The light emitting device emits infrared rays and is reflected by the bright scale layer 12 or the dark scale layer 13, and the reflected light enters the photoelectric conversion device to generate an electrical signal. The light emitting device of the infrared detector 2 emits infrared rays, and the infrared rays are irradiated to the bright scale layer 12 or the dark scale layer 13 to be reflected, and the photoelectric conversion device receives the reflected infrared rays to generate an analog voltage, and the magnitude of the voltage reacts to the scale layer to the infrared rays. The size of the reflectivity, resulting in more intuitive detection results.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。 It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that The technical solutions described in the foregoing embodiments are modified, or the equivalents of the technical features are replaced. The modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

  1. 一种反射式角位移光编码器，包括码盘和红外检测器，其特征在于，所述码盘包括柱状体结构的码盘主体，所述码盘主体的侧壁沿其周向等分为多个刻度区，所述刻度区内填充覆盖有明刻度层或暗刻度层，且所述明刻度层和所述暗刻度层交替设置；所述红外检测器沿所述码盘主体的径向设置于所述码盘的一侧，所述红外检测器发射出的红外线与所述明刻度层或所述暗刻度层接触后被反射并被所述红外检测器接收。A reflective angular displacement optical encoder comprising a code wheel and an infrared detector, wherein the code wheel comprises a code disc body of a columnar body structure, and a side wall of the code disc body is equally divided along a circumferential direction thereof a plurality of scale regions, the scale region is filled with a clear scale layer or a dark scale layer, and the bright scale layer and the dark scale layer are alternately disposed; the infrared detector is disposed along a radial direction of the code wheel body On one side of the code wheel, the infrared ray emitted by the infrared detector is reflected by the bright scale layer or the dark scale layer and is received by the infrared detector.
  2. 根据权利要求1所述的反射式角位移光编码器，其特征在于，所述刻度区在高度方向上的边沿平行于所述码盘主体的中心轴。A reflective angular displacement optical encoder according to claim 1, wherein an edge of said scale region in a height direction is parallel to a central axis of said code wheel body.
  3. 根据权利要求1所述的反射式角位移光编码器，其特征在于，其中一个所述明刻度层向所述码盘主体的中心凹陷，形成凹面结构。The reflective angular displacement optical encoder according to claim 1, wherein one of said bright scale layers is recessed toward a center of said code wheel body to form a concave structure.
  4. 根据权利要求1所述的反射式角位移光编码器，其特征在于，所述码盘主体为马达的上转子或下转子。A reflective angular displacement optical encoder according to claim 1, wherein said code wheel body is an upper or lower rotor of a motor.
  5. 根据权利要求1～4中任一项所述的反射式角位移光编码器，其特征在于，所述码盘主体采用PCB基材制成，所述明刻度层为采用电镀工艺形成于所述码盘主体的侧壁上的金属层。The reflective angular displacement optical encoder according to any one of claims 1 to 4, wherein the code wheel body is made of a PCB substrate, and the bright scale layer is formed by using an electroplating process. a metal layer on the sidewall of the code body.
  6. 根据权利要求1所述的反射式角位移光编码器，其特征在于，所述码盘主体为圆柱体或正棱柱。The reflective angular displacement optical encoder of claim 1 wherein said code wheel body is a cylinder or a regular prism.
  7. 根据权利要求4所述的反射式角位移光编码器，其特征在于，所述马达为PCB马达，所述PCB马达设置于电机驱动板上，所述红外检测器固连于所述电机驱动板上。The reflective angular displacement optical encoder according to claim 4, wherein the motor is a PCB motor, the PCB motor is disposed on a motor driving board, and the infrared detector is fixed to the motor driving board. on.
  8. 根据权利要求7所述的反射式角位移光编码器，其特征在于，所述红外检测器焊接于所述电机驱动板上。A reflective angular displacement optical encoder according to claim 7, wherein said infrared detector is soldered to said motor drive plate.
  9. 根据权利要求1所述的反射式角位移光编码器，其特征在于，多个所述明刻度层向所述码盘主体的中心凹陷，形成多个凹面结构。The reflective angular displacement optical encoder according to claim 1, wherein a plurality of said scale layers are recessed toward a center of said code wheel body to form a plurality of concave structures.
  10. 根据权利要求1所述的反射式角位移光编码器，其特征在于，所述红外检测器包括发光器件以及光电转换器件，所述发光器件发出红外线后被所述明刻度层或所述暗刻度层反射，反射后的光线进入所述光电转换器件产生电信号。 The reflective angular displacement optical encoder according to claim 1, wherein said infrared detector comprises a light emitting device and said photoelectric conversion device, said light emitting device emitting infrared rays and said bright scale layer or said dark scale The layer reflects, and the reflected light enters the photoelectric conversion device to generate an electrical signal.
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