WO2022209747A1 - アブソリュートエンコーダ - Google Patents
アブソリュートエンコーダ Download PDFInfo
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- WO2022209747A1 WO2022209747A1 PCT/JP2022/010843 JP2022010843W WO2022209747A1 WO 2022209747 A1 WO2022209747 A1 WO 2022209747A1 JP 2022010843 W JP2022010843 W JP 2022010843W WO 2022209747 A1 WO2022209747 A1 WO 2022209747A1
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- WIPO (PCT)
- Prior art keywords
- bearing
- gear
- magnet
- absolute encoder
- support shaft
- Prior art date
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- 125000006850 spacer group Chemical group 0.000 claims abstract description 34
- 239000000758 substrate Substances 0.000 claims abstract description 25
- 230000004907 flux Effects 0.000 claims abstract description 18
- 230000002093 peripheral effect Effects 0.000 claims description 39
- 239000000696 magnetic material Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 abstract description 25
- 230000009467 reduction Effects 0.000 description 12
- 239000000463 material Substances 0.000 description 10
- 239000011347 resin Substances 0.000 description 10
- 229920005989 resin Polymers 0.000 description 10
- 238000005096 rolling process Methods 0.000 description 6
- 229930182556 Polyacetal Natural products 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 229920006324 polyoxymethylene Polymers 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000007769 metal material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
- 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 absolute encoders.
- an absolute type absolute encoder (hereinafter referred to as an "absolute encoder") that detects an absolute position or angle. )It has been known.
- Some absolute encoders measure the amount of rotation of the main shaft based on the rotation angle of the sub-shaft. Such an absolute encoder detects the rotation angle of the subshaft based on changes in the magnetic field of a magnet attached to the tip of a rotating body such as a subshaft or a gear attached to the subshaft. A change in the magnetic field is detected by an angle sensor provided opposite the magnet. The detection accuracy of the angle sensor increases as the influence of magnetic flux other than the magnetic flux from the magnet to be detected decreases.
- Two magnetic encoders each having a magnetized row pattern in which magnetic poles are arranged on the circumference of a concentric ring, each having a different number of magnetic poles, and a magnetic sensor for detecting the magnetic field of each of the magnetic encoders are provided.
- Rotation detection devices are known.
- a magnetic spacer is provided between the magnetized array patterns of the two magnetic encoders (see, for example, Patent Document 1).
- a bearing is arranged directly below the magnet attached for angle detection.
- the bearing which is a magnetic material, will act as a magnetic path, causing disturbance in the magnetic flux distribution on the angle detection surface side (upper side) of the magnet, resulting in angle error. Detection accuracy may deteriorate.
- the present invention has been made in view of the above problems, and its purpose is to provide an absolute encoder that can improve the detection accuracy of the rotation angle of the rotating shaft caused by the magnetic flux distribution of the magnet.
- an absolute encoder comprises a support shaft having one end fixed to a substrate and the other end having a flange portion, at least one bearing having an inner ring fixed to the support shaft, A magnetized magnet, a spacer disposed between the bearing and the magnet in the axial direction of the support shaft, a magnet holder holding the magnet, and a magnetic sensor detecting magnetic flux from the magnet.
- the magnet holder comprises a bearing fixing portion which is a concave portion which is open on one side in the axial direction and which is fixed to the outer ring of the bearing, and a concave portion which is formed on the other end side of the bearing fixing portion.
- a magnet holding portion wherein the bearing is arranged between the base plate and the flange portion in the axial direction, and the spacer is arranged on the outer ring of the bearing inside the bearing fixing portion in the axial direction abut from
- the substrate has a hole through which the support shaft can be inserted, the support shaft has a male screw portion at one end, and the male screw portion is inserted through the hole. and fixed to the substrate together with the bearing.
- the absolute encoder includes a washer arranged between the substrate and the bearing in the axial direction.
- the spacer abuts the inner peripheral portion of the bearing fixing portion in the radial direction and abuts the outer ring of the bearing in the axial direction.
- the flange portion has a surface on one end side in the axial direction facing the disk portion of the inner ring of the bearing.
- the spacer is formed in an annular shape, and the flange portion is arranged inside the inner peripheral surface.
- the support shaft is made of a magnetic material.
- the absolute encoder of the present invention it is possible to improve the detection accuracy of the rotation angle of the rotating shaft caused by the magnetic flux distribution of the magnet.
- FIG. 1 is a perspective view schematically showing the configuration of an absolute encoder according to an embodiment of the invention
- FIG. 2 is a perspective view schematically showing the configuration of the absolute encoder shown in FIG. 1 with a shield plate removed
- FIG. 3 is a perspective view schematically showing the configuration of the absolute encoder shown in FIG. 2 with the case removed
- FIG. 4 is a plan view schematically showing the configuration of the absolute encoder shown in FIG. 3 with the substrate removed
- FIG. FIG. 4 is a bottom view of the angle sensor support substrate shown in FIG. 3
- 5 is a cross-sectional view of the absolute encoder shown in FIG. 4 taken along line AA
- FIG. 5 is a cross-sectional view of the absolute encoder shown in FIG. 4 taken along the line BB.
- FIG. 5 is a CC cross-sectional view of the absolute encoder shown in FIG. 4;
- FIG. 5 is a cross-sectional view along DD of the absolute encoder shown in FIG. 4;
- FIG. 10 is a cross-sectional view of a first countershaft gear in the absolute encoder shown in FIG. 9;
- 2 is a block diagram schematically showing the functional configuration of the absolute encoder shown in FIG. 1;
- the present inventors have found that in an absolute encoder, the amount of rotation (hereinafter also referred to as “the amount of rotation of the main shaft”) over multiple rotations of the main shaft (hereinafter also referred to as “multiple rotations”) is It was found that it can be specified by obtaining the rotation angle of the rotating body that rotates at a reduced speed. That is, the amount of rotation of the main shaft can be specified by multiplying the rotation angle of the rotating body by the reduction ratio.
- the range of the identifiable rotation amount of the main shaft increases in proportion to the speed reduction ratio. For example, if the speed reduction ratio is 50, the amount of rotation for 50 rotations of the main shaft can be specified.
- FIG. 1 is a perspective view schematically showing the configuration of an absolute encoder 2 according to an embodiment of the invention.
- FIG. 2 is a perspective view schematically showing the configuration of the absolute encoder 2 with the shield plate 7 removed.
- the case 4 of the absolute encoder 2 and the angle sensor support substrate 5 are shown transparently.
- FIG. 3 is a perspective view schematically showing the configuration of the absolute encoder 2 with the case 4 removed.
- the angle sensor support substrate 5 of the absolute encoder 2 is shown through.
- FIG. 4 is a plan view schematically showing the configuration of the absolute encoder 2 with the angle sensor support substrate 5 removed.
- FIG. 5 is a diagram of the angle sensor support substrate 5 viewed from below.
- FIG. 1 is a perspective view schematically showing the configuration of an absolute encoder 2 according to an embodiment of the invention.
- FIG. 2 is a perspective view schematically showing the configuration of the absolute encoder 2 with the shield plate 7 removed.
- the case 4 of the absolute encoder 2 and the angle sensor support substrate 5 are shown transparently.
- FIG. 6 is a cross-sectional view of the absolute encoder 2 taken along line AA.
- FIG. 7 is a BB sectional view of the absolute encoder 2.
- FIG. 8 is a CC sectional view of the absolute encoder 2.
- FIG. 9 is a DD sectional view of the absolute encoder 2. As shown in FIG.
- the absolute encoder 2 includes a first countershaft gear 40, a support shaft 42, a magnet Mq, an angle sensor Sq, a bearing fixing portion 411, a magnet holding portion 412. , a first bearing 43 , a second bearing 44 and a spacer 45 .
- One end of the support shaft 42 is fixed to the gear base portion 3 as a substrate, and the other end has a flange portion 423 .
- Magnet Mq is magnetized.
- the first subshaft gear 40 also functions as a magnet holder that holds the magnet Mq.
- Angle sensor Sq functions as a magnetic sensor that detects magnetic flux from magnet Mq.
- the bearing fixing portion 411 is provided on the first subshaft gear 40 .
- the bearing fixing portion 411 is a concave portion that is open on one side in the axial direction, and is fixed to the outer rings of the first bearing 43 and the second bearing 44 .
- the magnet holding portion 412 is a concave portion formed on the other end side of the bearing fixing portion 411 in the first countershaft gear 40 .
- a first bearing 43 and a second bearing 44 as at least one bearing have inner rings fixed to the support shaft 42 .
- the first bearing 43 and the second bearing 44 are arranged between the gear base portion 3 and the flange portion 423 in the axial direction.
- the spacer 45 is arranged between the first bearing 43 and the second bearing 44 and the magnet Mq in the axial direction of the support shaft 42 .
- the spacer 45 abuts on the outer rings of the first bearing 43 and the second bearing 44 inside the bearing fixing portion 411 from the axial direction.
- the structure of the absolute encoder 2 will be specifically described below.
- the absolute encoder 2 will be explained based on the XYZ orthogonal coordinate system.
- the X-axis direction corresponds to the horizontal left-right direction
- the Y-axis direction corresponds to the horizontal front-back direction
- the Z-axis direction corresponds to the vertical up-down direction.
- the Y-axis direction and the Z-axis direction are orthogonal to the X-axis direction.
- the X-axis direction is also referred to as the left side or the right side
- the Y-axis direction as the front side or the rear side
- the Z-axis direction as the upper side or the lower side.
- the left side in the X-axis direction is the left side
- the right side in the X-axis direction is the right side
- the front side in the Y-axis direction is the front side
- the back side in the Y-axis direction is the rear side
- the upper side in the Z-axis direction is the upper side
- the lower side in the Z-axis direction is the lower side.
- a state viewed from above in the Z-axis direction is referred to as a plan view
- a state viewed from the front in the Y-axis direction is referred to as a front view
- a state viewed from the left in the X-axis direction is referred to as a side view.
- Such directional notation does not limit the use posture of the absolute encoder 2, and the absolute encoder 2 can be used in any posture.
- the absolute encoder 2 is an absolute type encoder that specifies and outputs the amount of rotation over multiple rotations of the main shaft 1a of the motor 1, as described above.
- the absolute encoder 2 is provided at the upper end of the motor 1 in the Z-axis direction.
- the absolute encoder 2 has a substantially rectangular shape in plan view, and has a horizontally long thin rectangular shape in the vertical direction, which is the direction in which the main shaft 1a extends, in front view and side view. ing. That is, the absolute encoder 2 has a flat rectangular parallelepiped shape that is longer in the horizontal direction than in the vertical direction.
- the absolute encoder 2 has a hollow rectangular tubular case 4 that houses the internal structure.
- the case 4 includes a plurality of (for example, four outer walls 4a, the upper end of which is open.
- the shield plate 7 is a plate-like member provided between the angle sensors Sp, Sq, Sr and the outside of the absolute encoder 2 in the axial direction (Z-axis direction).
- the shield plate 7 is made of a magnetic material in order to prevent the angle sensors Sp, Sq, Sr provided inside the case 4 from magnetic interference caused by magnetic flux generated outside the absolute encoder 2 .
- the motor 1 may be, for example, a stepping motor or a DC brushless motor.
- the motor 1 may be a motor that is applied as a drive source for driving an industrial robot through a reduction mechanism such as a strain wave gearing.
- the main shaft 1a of the motor 1 protrudes from the motor case on both sides in the vertical direction.
- the absolute encoder 2 outputs the amount of rotation of the main shaft 1a of the motor 1 as a digital signal.
- the shape of the motor 1 has a substantially rectangular shape in plan view, and also has a substantially rectangular shape in the vertical direction. That is, the motor 1 has a substantially cubic shape.
- the length of each of the four outer wall portions forming the outer shape of the motor 1 in plan view is, for example, 25 mm, that is, the outer shape of the motor 1 is 25 mm square in plan view.
- the absolute encoder 2 provided on the motor 1 is, for example, 25 mm square in accordance with the outer shape of the motor 1 .
- the angle sensor support board 5 is provided so as to cover the inside of the absolute encoder 2 together with the case 4 and the shield plate 7 .
- the angle sensor support board 5 is a plate-like printed wiring board that has a substantially rectangular shape in plan view and is thin in the vertical direction.
- a connector 6 is connected to the angle sensor support board 5 and is used to connect the absolute encoder 2 and an external device (not shown).
- the absolute encoder 2 includes a main shaft gear 10 having a first worm gear portion 11 (first driving gear), a first worm wheel portion 21 (first driven gear), and a second worm gear. and a first intermediate gear 20 having a portion 22 (second drive gear) and a third worm gear portion 28 (third drive gear).
- the absolute encoder 2 also includes a second intermediate gear 30 having a third worm wheel portion 31 (third driven gear) and a first spur gear portion 32 (fourth drive gear), a second worm wheel portion 41 (second driven gear) and a support shaft 42 (see FIG. 9), and a second countershaft gear 50 having a second spur gear portion 51 (third driven gear).
- the absolute encoder 2 includes a magnet Mp, an angle sensor Sp corresponding to the magnet Mp, a magnet Mq, an angle sensor Sq corresponding to the magnet Mq, a magnet Mr, an angle sensor Sr corresponding to the magnet Mr, and a microcomputer. 121.
- the main shaft 1a of the motor 1 is the output shaft of the motor 1 and the input shaft that transmits rotational force to the absolute encoder 2.
- the main shaft gear 10 is fixed to the main shaft 1a of the motor 1, and is rotatably supported by a bearing member of the motor 1 integrally with the main shaft 1a.
- the first worm gear portion 11 is provided on the outer circumference of the main shaft gear 10 so as to rotate as a first drive gear in accordance with the rotation of the main shaft 1a of the motor 1 .
- the first worm gear portion 11 is provided so that its central axis coincides or substantially coincides with the central axis of the main shaft 1a.
- the main shaft gear 10 can be made of various materials such as resin material and metal material.
- the main shaft gear 10 is made of polyacetal resin, for example.
- the first intermediate gear 20 is a gear portion that transmits the rotation of the main shaft gear 10 to the first counter shaft gear 40 and the second intermediate gear 30.
- the first intermediate gear 20 is supported by a shaft 23 around a rotation axis extending substantially parallel to the base 3b.
- the first intermediate gear 20 is a substantially cylindrical member extending in the direction of its rotation axis.
- the first intermediate gear 20 includes a first worm wheel portion 21, a second worm gear portion 22, and a third worm gear portion 28, and has a through hole formed therein through which the shaft 23 is inserted. .
- the first intermediate gear 20 is supported by inserting the shaft 23 through a first intermediate gear shaft support portion 3g provided in the base portion 3b of the gear base portion 3. As shown in FIG.
- the first worm wheel portion 21, the second worm gear portion 22, and the third worm gear portion 28 are arranged in this order at positions separated from each other.
- the first intermediate gear 20 can be made of various materials such as resin material and metal material.
- the first intermediate gear 20 is made of polyacetal resin.
- the first worm wheel portion 21 is provided on the outer circumference of the first intermediate gear 20 as a first driven gear.
- the first worm wheel portion 21 is provided so as to mesh with the first worm gear portion 11 and rotate as the first worm gear portion 11 rotates.
- the axial angle between the first worm wheel portion 21 and the first worm gear portion 11 is set at 90° or approximately 90°. That is, the central axis of the first worm wheel portion 21 is orthogonal to the central axis of the first worm gear portion 11 .
- the outer diameter of the first worm wheel portion 21 is set smaller than the outer diameter of the first worm gear portion 11. The outer diameter of the wheel portion 21 is reduced. As a result, the absolute encoder 2 is reduced in size in the vertical direction.
- the second worm gear portion 22 is provided on the outer circumference of the first intermediate gear 20 as a second drive gear.
- the second worm gear portion 22 rotates as the first worm wheel portion 21 rotates.
- the second worm gear portion 22 meshes with the second worm wheel portion 41 of the first countershaft gear 40 to rotate the first countershaft gear 40 .
- the second worm gear portion 22 is provided such that its central axis coincides or substantially coincides with the central axis of the first worm wheel portion 21 .
- the third worm gear portion 28 is provided on the outer periphery of the first intermediate gear 20.
- the third worm gear portion 28 rotates as the first worm wheel portion 21 rotates.
- the third worm gear portion 28 meshes with the third worm wheel portion 31 of the second intermediate gear 30 to rotate the second intermediate gear 30 .
- the third worm gear portion 28 is provided such that its central axis coincides or substantially coincides with the central axis of the first worm wheel portion 21 .
- the first subshaft gear 40 is decelerated and rotates integrally with the magnet Mq in accordance with the rotation of the main shaft 1a.
- the first countershaft gear 40 includes a second worm wheel portion 41 , a support shaft 42 , a first bearing 43 , a second bearing 44 and a spacer 45 .
- the second worm wheel portion 41 is supported by a support shaft 42 via a first bearing 43 and a second bearing 44 .
- FIG. 10 is a DD cross-sectional view of the first subshaft gear 40 in the absolute encoder 2.
- the second worm wheel portion 41 is a substantially circular member in plan view.
- the second worm wheel portion 41 can be made of various materials such as resin material and metal material.
- the second worm wheel portion 41 is made of polyacetal resin, for example.
- the second worm wheel portion 41 includes a bearing fixing portion 411 , a magnet holding portion 412 and a stepped portion 413 .
- the second worm wheel portion 41 is provided as a second driven gear on the outer periphery of the first subshaft gear 40, meshes with the second worm gear portion 22, and is provided to rotate as the second worm gear portion 22 rotates.
- the axial angle between the second worm wheel portion 41 and the second worm gear portion 22 is set at 90° or approximately 90°. That is, the central axis of the second worm wheel portion 41 is perpendicular to the central axis of the first worm wheel portion 21 .
- the rotation axis (axis A) of the second worm wheel portion 41 is provided parallel or substantially parallel to the rotation axis of the first worm gear portion 11 .
- the bearing fixing portion 411 is a cylindrical hollow portion provided at a position centered on the axis A in the second worm wheel portion 41 .
- the bearing fixing portion 411 is open on one side in the direction of the axis A, specifically, on the lower side in the Z-axis direction in FIGS.
- the radial dimension (the direction perpendicular to the axis A, the X-axis direction, and the Y-axis direction) of the inner peripheral portion 4111 of the bearing fixing portion 411 is the outer ring of the bearing in the first countershaft gear 40 and the second worm wheel portion. 41 can be fixed.
- the radial dimension of the inner peripheral portion 4111 of the bearing fixing portion 411 is such that the outer rings 432 and 442 of the first bearing 43 and the second bearing 44 can be press-fitted.
- the dimension of the bearing fixing portion 411 in the axis A direction (Z axis direction) is such that the outer ring 432 of the first bearing 43 and the outer ring 442 of the second bearing 44 can be accommodated in the axis A direction.
- a step portion 413 is provided in the bearing fixing portion 411 .
- the stepped portion 413 is an annular surface centered on the axis A parallel to the X-axis and the Y-axis on the other side in the direction of the axis A, that is, on the upper side in the direction of the Z-axis in FIGS.
- the second worm wheel portion 41 of the first subshaft gear 40 does not have the stepped portion 413 when, for example, the diameter of the magnet Mq is the same as the diameter of the first bearing 43 and the second bearing 44. good too.
- the magnet holding portion 412 is an annular hollow portion provided at a position centered on the axis A of the second worm wheel portion 41, similar to the bearing fixing portion 411. As shown in FIG. The magnet holding portion 412 is formed to accommodate the magnet Mq. The magnet holding portion 412 is provided on the other side of the stepped portion 413 in the direction of the axis A, that is, on the upper side in the Z-axis direction in FIGS. The magnet holding part 412 holds the magnet Mq in the hollow portion described above.
- the support shaft 42 has a shaft body 420 , an outer peripheral portion 421 , a male screw portion 422 and a flange portion 423 .
- the shaft body 420 of the support shaft 42 is a shaft-shaped member whose longitudinal direction is the direction of the axis A.
- the outer peripheral portion 421 is a cylindrical or substantially cylindrical peripheral surface centered on the axis A, for example.
- the male threaded portion 422 is provided on one end side of the shaft body 420, on the outer peripheral portion 421 within a predetermined range from a lower end portion 424 on the lower side in the Z-axis direction in FIGS.
- the flange portion 423 is provided on the other end side of the shaft main body 420, which is the upper end portion 425 on the upper side in the Z-axis direction in FIGS.
- the flange portion 423 protrudes radially outward (in the Y-axis direction in FIG. 10) from the surface of the outer peripheral portion 421 of the shaft body 420 at the upper end portion 425 .
- An upper surface (upper surface portion 426) and a lower surface (lower surface portion 427) of the flange portion 423 are flat surfaces in a direction perpendicular to the direction of the axis A, that is, in a radial direction (Y-axis direction in FIG. 10).
- the support shaft 42 is attached so as to protrude substantially vertically from the base portion 3b of the gear base portion 3.
- the base portion 3b of the gear base portion 3 has a first counter shaft gear shaft support portion 3h as a hole through which the male screw portion 422 of the support shaft 42 can be inserted.
- the support shaft 42 is fixed to the base portion 3b of the gear base portion 3 together with the first bearing 43 and the second bearing 44 as follows.
- the male screw portion 422 of the support shaft 42 is inserted through the first counter shaft gear shaft support portion 3h downward in the Z-axis direction while the first bearing 43 and the second bearing 44 are press-fitted.
- a nut 60 is fastened to the male screw portion 422 projecting downward from the base portion 3b.
- the support shaft 42 fixed to the base portion 3b in this manner supports the second worm wheel portion 41 via the first bearing 43 and the second bearing 44 so as to be rotatable.
- the first bearing 43 has an inner ring 431 , an outer ring 432 and rolling elements 433 .
- the inner ring 431 is an annular member having an inner peripheral portion 4311 that can be attached to the outer peripheral portion 421 of the support shaft 42 .
- the outer ring 432 is provided on the outer peripheral side of the inner ring 431 .
- the outer ring 432 is an annular member that is coaxial with the inner ring 431 and has a larger diameter than the inner ring 431 .
- the rolling elements 433 are spherical members arranged between the inner ring 431 and the outer ring 432 . In the first bearing 43 , the inner ring 431 is press-fitted onto the outer peripheral portion 421 of the support shaft 42 .
- the cylindrical portion 4322 of the outer ring 432 is press-fitted into the inner peripheral portion 4111 of the bearing fixing portion 411 of the second worm wheel portion 41 .
- the disk portion 4321 on the upper side of the outer ring 432 in the direction of the axis line A (the Z-axis direction) is in contact with the spacer 45 .
- the disc portion 4323 on the upper side of the inner ring 431 in the direction of the axis A (the Z-axis direction) is in contact with the lower surface portion 427 of the flange portion 423 . In this manner, the first bearing 43 is accurately fixed to the second worm wheel portion 41 and the support shaft 42 in the direction of the axis A and the radial direction.
- the second bearing 44 has an inner ring 441 , an outer ring 442 and rolling elements 443 .
- the inner ring 441 is an annular member having an inner peripheral portion 4411 that can be attached to the outer peripheral portion 421 of the support shaft 42 .
- the outer ring 442 is provided on the outer peripheral side of the inner ring 441 .
- the outer ring 442 is an annular member that is coaxial with the inner ring 441 and has a larger diameter than the inner ring 441 .
- the rolling elements 443 are spherical members arranged between the inner ring 441 and the outer ring 442 . In the second bearing 44 , the inner ring 441 is press-fitted onto the outer peripheral portion 421 of the support shaft 42 .
- the upper disk portion 4421 of the outer ring 442 in the direction of the axis A (Z-axis direction) abuts the lower disk portion 4321 of the outer ring 432 of the first bearing 43 .
- the cylindrical portion 4422 of the outer ring 442 is press-fitted into the inner peripheral portion 4111 of the bearing fixing portion 411 of the second worm wheel portion 41 .
- the spacer 45 is an annular or substantially annular member having an annular disk portion 451 centered on the axis A, and a cylindrical outer peripheral portion 452 and an inner peripheral portion 453 .
- the spacer 45 is arranged on the inner peripheral portion 4111 of the bearing fixing portion 411 in the radial direction.
- One side of the spacer 45 in the direction of the axis A (the lower side in the Z-axis direction) is in contact with the disk portion 4321 of the outer ring 432 of the first bearing 43 .
- the spacer 45 has the other side in the direction of the axis A (upper side in the Z-axis direction) in contact with the disk surface Mq1 on the lower side in the Z-axis direction of the magnet Mq.
- the disk surface Mq2 on the upper side in the Z-axis direction of the magnet Mq is in contact with the surface on the upper side in the Z-axis direction of the magnet holding portion 412 . Therefore, the spacer 45 is in contact with the magnet holding portion 412 of the second worm wheel portion 41 via the magnet Mq.
- the flange portion 423 of the support shaft 42 is arranged radially inside the inner peripheral portion 453 of the spacer 45 .
- the washer 46 is arranged between the base 3b and the second bearing 44 in the axis A direction.
- the washer 46 has a smaller diameter than the outer ring 442 of the second bearing 44 .
- the washer 46 having a smaller diameter than the outer ring 442 of the second bearing 44 is arranged between the base portion 3b and the second bearing 44, so that the outer ring 432 of the first bearing 43 and the outer ring 442 of the second bearing 44 are supported. It is rotatable about axis 42 . That is, in the first subshaft gear 40 , the second worm wheel portion 41 is rotatable with respect to the support shaft 42 .
- the other side of the washer 46 in the direction of the axis A may be in contact with the disc portion 4412 on the lower side in the Z-axis direction of the inner ring 441 of the second bearing 44 .
- the plurality of bearings (the first bearing 43 and the second bearing 44 ) of the first countershaft gear 40 are press-fitted into the bearing fixing portion 411 .
- the first subshaft gear 40 is fixed to the support shaft 42 with high accuracy in the axis A direction and the radial direction.
- the magnet Mq is a permanent magnet provided on the axis A of the support shaft 42 on the tip side (upper side in the Z-axis direction) of the second worm wheel portion 41 .
- the magnet Mq is fitted in the inner peripheral portion 4111 of the bearing fixing portion 411 in the radial direction.
- the magnet Mq is fixed above the bearing fixing portion 411 in the direction of the axis line A by abutting against the spacer 45 .
- the angle sensor Sq is provided on the axis A in the same manner as the magnet Mq.
- the angle sensor Sq is provided in the vicinity of the magnet Mq, for example, on or in the vicinity of the axis A, which is a range in which the change in the magnetic flux of the magnet Mq can be detected.
- Angle sensor Sq detects changes in magnetic flux generated from magnet Mq.
- the second intermediate gear 30 is a disk-shaped gear portion that rotates according to the rotation of the main shaft 1a, decelerates the rotation of the main shaft 1a, and transmits it to the second countershaft gear 50.
- the second intermediate gear 30 is provided between the second worm gear portion 22 and the second spur gear portion 51 provided on the second countershaft gear 50 .
- the second spur gear portion 51 meshes with the first spur gear portion 32 .
- the second intermediate gear 30 has a third worm wheel portion 31 that meshes with the third worm gear portion 28 of the first intermediate gear 20 and a first spur gear portion 32 that drives the second spur gear portion 51 .
- the second intermediate gear 30 is made of polyacetal resin, for example.
- the second intermediate gear 30 is a substantially circular member in plan view.
- the second intermediate gear 30 is pivotally supported by the base portion 3 b of the gear base portion 3 .
- a second subshaft gear 50 which will be described later, can be arranged at a position farther away from the third worm gear portion 28 accordingly. Therefore, the distance between the magnets Mp and Mq can be increased to reduce the mutual influence of leakage magnetic flux. Also, by providing the second intermediate gear 30, the range in which the speed reduction ratio can be set is expanded accordingly, and the degree of freedom in design is improved.
- the third worm wheel portion 31 is provided on the outer circumference of the second intermediate gear 30, meshes with the third worm gear portion 28, and is provided so as to rotate as the third worm gear portion 28 rotates.
- the first spur gear portion 32 is provided on the outer circumference of the second intermediate gear 30 so that its central axis coincides or substantially coincides with the central axis of the third worm wheel portion 31 .
- the first spur gear portion 32 is provided so as to mesh with the second spur gear portion 51 and rotate as the third worm wheel portion 31 rotates.
- the rotation axes of the third worm wheel portion 31 and the first spur gear portion 32 are provided parallel or substantially parallel to the rotation axis of the first worm gear portion 11 .
- the second subshaft gear 50 is a circular gear portion in a plan view that rotates according to the rotation of the main shaft 1a, decelerates the rotation of the main shaft 1a, and transmits it to the magnet Mr.
- the second countershaft gear 50 is pivotally supported around a rotation axis extending substantially vertically from the base portion 3b of the gear base portion 3. As shown in FIG.
- the second subshaft gear 50 includes a second spur gear portion 51 and a magnet holding portion that holds the magnet Mr.
- the second spur gear portion 51 is provided on the outer circumference of the second subshaft gear 50 .
- the second spur gear portion 51 is provided so as to mesh with the first spur gear portion 32 and rotate as the third worm wheel portion 31 rotates.
- the rotation axis of the second spur gear portion 51 is provided parallel or substantially parallel to the rotation axis of the first spur gear portion 32 .
- the second countershaft gear 50 can be made of various materials such as resin material and metal material.
- the second countershaft gear 50 is made of polyacetal resin.
- the first meshing direction P1 direction in which the first worm wheel portion 21 faces the first worm gear portion 11
- the second meshing direction P2 direction in which the second worm gear portion 22 faces the second worm wheel portion 41
- the direction in which the third worm gear portion 28 faces the third worm wheel portion 31 is defined as a third meshing direction P3 (direction of arrow P3 in FIG. 4).
- the first meshing direction P1, the second meshing direction P2, and the third meshing direction P3 are all along the horizontal plane (XY plane).
- the magnet Mp is fixed to the upper surface of the main shaft gear 10 so that both central axes coincide or substantially coincide.
- the magnet Mp is supported by a magnet support portion 17 provided on the central axis of the main shaft gear 10 via a holder portion 16 .
- the holder portion 16 is made of a non-magnetic material such as an aluminum alloy.
- the inner peripheral surface of the holder portion 16 is formed, for example, in an annular shape corresponding to the outer diameter and the shape of the outer peripheral surface of the magnet Mp so as to contact and hold the outer peripheral surface of the magnet Mp in the radial direction. ing.
- the inner peripheral surface of the magnet support portion 17 is formed, for example, in an annular shape corresponding to the outer diameter and the shape of the outer peripheral surface of the holder portion 16 so as to be in contact with the outer peripheral surface of the holder portion 16 .
- the magnet Mp has two magnetic poles arranged in a direction perpendicular to the rotation axis of the main shaft gear 10 .
- the angle sensor Sp is provided on the lower surface 5a of the angle sensor support substrate 5 so that its lower surface vertically faces the upper surface of the magnet Mp with a gap therebetween.
- the angle sensor Sp is fixed to the angle sensor support substrate 5 supported by substrate supports 110 arranged on the gear base portion 3 of the absolute encoder 2, which will be described later.
- the angle sensor Sp detects the magnetic pole of the magnet Mp and outputs detection information to the microcomputer 121 .
- the microcomputer 121 specifies the rotation angle of the main shaft gear 10, that is, the rotation angle of the main shaft 1a, by specifying the rotation angle of the magnet Mp based on the input detection information regarding the magnetic pole.
- the resolution of the rotation angle of the spindle 1a corresponds to the resolution of the angle sensor Sp.
- the microcomputer 121 specifies the amount of rotation of the main shaft 1a based on the specified rotation angle of the first countershaft gear 40 and the specified rotation angle of the main shaft 1a, and outputs this.
- the microcomputer 121 may output the amount of rotation of the main shaft 1a of the motor 1 as a digital signal.
- the angle sensor Sq detects the rotation angle of the second worm wheel portion 41, that is, the rotation angle of the first subshaft gear 40.
- the magnet Mq is fixed to the upper surface of the first subshaft gear 40 so that both central axes thereof coincide or substantially coincide with each other.
- the magnet Mq has two magnetic poles arranged in a direction perpendicular to the rotation axis of the first countershaft gear 40 . As shown in FIG. 3, the angle sensor Sq is provided such that its lower surface vertically faces the upper surface of the magnet Mq with a gap therebetween in order to detect the rotation angle of the first subshaft gear 40 .
- the angle sensor Sq is fixed to the angle sensor support substrate 5 to which the angle sensor Sp is fixed on the same plane as the plane to which the angle sensor Sp is fixed.
- Angle sensor Sq detects the magnetic pole of magnet Mq and outputs detection information to microcomputer 121 .
- the microcomputer 121 identifies the rotation angle of the magnet Mq, that is, the rotation angle of the first subshaft gear 40, based on the input detection information regarding the magnetic pole.
- the angle sensor Sr detects the rotation angle of the second spur gear portion 51 , that is, the rotation angle of the second countershaft gear 50 .
- the magnet Mr is fixed to the upper surface of the second subshaft gear 50 so that both central axes thereof coincide or substantially coincide with each other.
- the magnet Mr has two magnetic poles arranged in a direction perpendicular to the rotation axis of the second countershaft gear 50 .
- the angle sensor Sr is provided such that its lower surface vertically faces the upper surface of the magnet Mr with a gap therebetween.
- the angle sensor Sr is fixed to the angle sensor support board 5 supported by the board struts 110 arranged on the gear base portion 3 of the absolute encoder 2, which will be described later.
- the angle sensor Sr detects the magnetic pole of the magnet Mr and outputs detection information to the microcomputer 121 .
- the microcomputer 121 specifies the rotation angle of the magnet Mr, that is, the rotation angle of the second subshaft gear 50, based on the input detection information regarding the magnetic pole.
- a magnetic angle sensor with relatively high resolution may be used for each magnetic sensor.
- the magnetic angle sensor is arranged to face the end face including the magnetic poles of each permanent magnet in the axial direction of each rotating body with a certain gap therebetween, and detects the rotation angle of the opposing rotating body based on the rotation of these magnetic poles. Identifies and outputs a digital signal.
- a magnetic angle sensor includes, for example, a sensing element that senses magnetic poles, and an arithmetic circuit that outputs a digital signal based on the output of the sensing element.
- the sensing element may include a plurality (eg, four) of magnetic field sensing elements such as Hall elements and GMR (Giant Magneto Resistive) elements.
- the arithmetic circuit may specify the rotation angle by table processing using a lookup table, for example, using the difference or ratio of the outputs of a plurality of sensing elements as a key.
- the sensing element and arithmetic circuit may be integrated on one IC chip. This IC chip may be embedded in resin having a thin rectangular parallelepiped outer shape.
- Each magnetic sensor outputs to the microcomputer 121 an angle signal, which is a digital signal corresponding to the rotation angle of each rotating body detected via a wiring member (not shown). For example, each magnetic sensor outputs the rotation angle of each rotor as a multi-bit (for example, 7-bit) digital signal.
- FIG. 11 is a block diagram schematically showing the functional configuration of an absolute encoder.
- the microcomputer 121 is fixed to the surface of the gear base portion 3 of the angle sensor support substrate 5 on the base portion 3b side by a method such as soldering or adhesion.
- the microcomputer 121 is composed of a CPU, acquires digital signals representing rotation angles output from the angle sensors Sp, Sq, and Sr, and calculates the amount of rotation of the main shaft gear 10 .
- Each block of the microcomputer 121 shown in FIG. 11 represents a function realized by the CPU as the microcomputer 121 executing a program.
- each block of the microcomputer 121 can be realized by elements and mechanical devices such as the computer's CPU (Central Processing Unit) and RAM (Random Access Memory), and in terms of software, it can be realized by computer programs.
- CPU Central Processing Unit
- RAM Random Access Memory
- the functional blocks realized by their cooperation are drawn. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be implemented in various ways by combining hardware and software.
- the microcomputer 121 includes a rotation angle acquisition section 121p, a rotation angle acquisition section 121q, a rotation angle acquisition section 121r, a table processing section 121b, a rotation amount identification section 121c, and an output section 121e.
- the rotation angle acquisition unit 121p acquires the rotation angle Ap, which is angle information indicating the rotation angle of the main shaft gear 10, that is, the main shaft 1a, based on the signal output from the angle sensor Sp.
- the rotation angle acquisition unit 121q acquires the rotation angle Aq, which is angle information indicating the rotation angle of the first subshaft gear 40, based on the signal output from the angle sensor Sq.
- the rotation angle acquisition unit 121r acquires the rotation angle Ar, which is angle information indicating the rotation angle of the second countershaft gear 50 detected by the angle sensor Sr.
- the table processing unit 121b refers to the first correspondence table that stores the rotation angle Ap and the rotation speed of the main shaft gear 10 corresponding to the rotation angle Ap, and rotates the main shaft gear 10 corresponding to the obtained rotation angle Ap. identify the number.
- the table processing unit 121b also refers to the second correspondence table that stores the rotation angle Ar and the number of revolutions of the main shaft gear 10 corresponding to the rotation angle Ar, and determines the main shaft gear 10 corresponding to the acquired rotation angle Ar. to specify the number of revolutions of
- the rotation amount specifying unit 121c specifies the first rotation amount over multiple rotations of the main shaft gear 10 according to the rotational speed of the main shaft gear 10 specified by the table processing unit 121b and the acquired rotation angle Aq.
- the output unit 121e converts the amount of rotation over multiple rotations of the main shaft gear 10 specified by the amount-of-rotation specifying unit 121c into information indicating the amount of rotation, and outputs the information.
- the table processing unit 121b, the rotation amount specifying unit 121c, and the output unit 121e also function as an angular position information output unit that outputs the angular position information of the first worm gear unit 11 to an external controller (controller). .
- the table processing unit 121b, the rotation amount specifying unit 121c, and the output unit 121e also output angular error information for correcting the angular position information of the first worm gear unit 11 to an external control device.
- the absolute encoder 2 configured in this manner adjusts the rotation speed of the main shaft 1a according to the rotation angles of the first countershaft gear 40 and the second countershaft gear 50 specified based on the detection information of the angle sensors Sq and Sr. It is possible to identify the rotation angle of the main shaft 1a based on the detection information of the angle sensor Sp. Then, the microcomputer 121 specifies the amount of rotation of the main shaft 1a over a plurality of rotations based on the specified number of revolutions of the main shaft 1a and the rotation angle of the main shaft 1a.
- the first worm gear portion 11 rotates 20 times, the first worm wheel portion 21 rotates once.
- the first worm wheel portion 21 and the second worm gear portion 22 are provided coaxially to form the first intermediate gear 20, and rotate together. That is, when the main shaft 1a and the main shaft gear 10 make 20 rotations, the first intermediate gear 20 makes one rotation and the second worm gear portion 22 makes one rotation.
- the second worm gear portion 22 rotates five times, the second worm wheel portion 41 rotates once.
- the first subshaft gear 40 formed with the second worm wheel portion 41 rotates together with the magnet Mq. Therefore, the second worm gear portion 22 constituting the first intermediate gear 20 is When it rotates 5 times, the magnet Mq rotates 1 time.
- the first intermediate gear 20 rotates five times, and the first countershaft gear 40 and the magnet Mq rotate once. That is, it is possible to specify the number of rotations for 50 rotations of the main shaft 1a from the detection information about the rotation angle of the first countershaft gear 40 of the angle sensor Sq.
- the second intermediate gear 30 on which the third worm wheel portion 31 is formed is provided with a first spur gear portion 32 having a central axis that coincides or substantially coincides with the central axis of the third worm wheel portion 31 . Therefore, when the third worm wheel portion 31 rotates, the first spur gear portion 32 also rotates.
- the first spur gear portion 32 meshes with the second spur gear portion 51 provided on the second countershaft gear 50, so that when the second intermediate gear 30 rotates, the second countershaft gear 50 also engages. Rotate.
- the first spur gear portion 32 rotates five times
- the second spur gear portion 51 rotates three times.
- the second subshaft gear 50 having the second spur gear portion 51 formed thereon rotates integrally with the magnet Mr as will be described later.
- the magnet Mr rotates once.
- the first intermediate gear 20 rotates 50 times
- the second intermediate gear 30 rotates 5/3
- the second countershaft gear 50 and the magnet Mr rotate once. That is, it is possible to specify the number of rotations for 1000 rotations of the main shaft 1a from the detection information about the rotation angle of the second subshaft gear 50 of the angle sensor Sr.
- the first countershaft gear 40 of the absolute encoder 2 includes the second worm wheel portion 41 as the second driven gear, the support shaft 42, the first bearing 43, the second 2 bearings 44 and spacers 45 are included.
- the male screw portion 422 of the support shaft 42 is fixed to the first sub-shaft gear shaft support portion 3h of the gear base portion 3 by a nut 60 .
- the support shaft 42 has a flange portion 423 at its upper end portion 425 .
- the first bearing 43 and the second bearing 44 are arranged between the gear base portion 3 and the flange portion 423 in the axial direction.
- the outer ring 432 of the first bearing 43 and the outer ring 442 of the second bearing 44 are fixed to the bearing fixing portion 411 of the first countershaft gear 40 .
- the magnet Mq is held by the magnet holding portion 412 of the first countershaft gear 40 .
- a spacer 45 is arranged between the magnet Mq and the first bearing 43 and the second bearing 44 in the axis A direction.
- the flange portion 423 of the support shaft 42 is arranged radially inside the inner peripheral portion 453 of the spacer 45 .
- the upright position of the support shaft 42 of the first countershaft gear 40 is obtained as follows.
- the disk portion 4423 of the inner ring 441 of the second bearing 44 on the lower side in the direction of the axis A is attached to the base portion 3b of the gear base portion 3 via the washer 46. in contact with Further, on the upper side in the axial direction of the first subshaft gear 40, the disk portion 4323 on the upper side in the direction of the axis A of the inner ring 431 of the first bearing 43 press-fitted to the support shaft 42 is in contact with the lower surface portion 427 of the flange portion 423.
- the support shaft 42 is inserted through the first sub-shaft gear shaft support portion 3h, and is fixed to the base portion 3b by fastening a nut 60 to the male screw portion 422. As shown in FIG. In this state, the force acting on the support shaft 42 due to the tightening of the nut 60 acts on the upper disk portion 4323 of the inner ring 431 of the first bearing 43 . In this manner, the first countershaft gear 40 positions the flange portion 423 provided at the upper end portion 425 of the support shaft 42 and the first bearing 43 and the second bearing 44 press-fitted to the support shaft 42 . As a result, the support shaft 42 can be erected.
- the absolute encoder 2 obtains the upright position of the support shaft 42 as described above. There is no need to provide shaft support structures such as flanges. Therefore, according to the absolute encoder 2, the thickness of the spacer 45 in the vertical direction is sufficiently secured while suppressing an increase in the height of the entire first subshaft gear 40 in the vertical direction (direction of the axis A). can do. In addition, according to the absolute encoder 2, since the spacer 45 can be sufficiently thick in the vertical direction, the distance in the direction of the axis A between the magnet Mq and the first bearing 43 and the second bearing 44, which are magnetic bodies, can be increased. do. Therefore, according to the absolute encoder 2, it is possible to reduce the influence of the first bearing 43 and the second bearing 44 forming a magnetic path.
- the absolute encoder 2 the distribution of the surface magnetic flux density on the angle detection surface side of the magnet Mq is stabilized. Detection accuracy can be improved. As a result, according to the absolute encoder 2, it is possible to obtain the effect of improving the poor determination of the amount of multiple rotations. Therefore, according to the absolute encoder 2, errors in detecting the rotation angle can be suppressed.
- the present invention is not limited to the absolute encoder 2 according to the above-described embodiments of the present invention. include. Moreover, each configuration may be selectively combined as appropriate, or may be combined with a known technique, so as to achieve at least part of the above-described problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiment may be changed as appropriate according to the specific usage of the present invention.
- the configuration of the first countershaft gear 40 described above is combined with the second countershaft gear 50 to suppress the vibration of the second countershaft gear 50 and improve the detection accuracy of the rotation angle of the countershaft. can be improved.
- the number of bearings included in the above-described first countershaft gear 40 is not limited to two, the first bearing 43 and the second bearing 44, but may be three or more.
- at least one bearing having an outer ring press-fitted may have an outer ring press-fitted to the first countershaft gear 40 .
- the shape of the spacer 45 provided in the first countershaft gear 40 may be such that the spacer 45 is in contact with the outer ring 432 of the first bearing 43 .
- the shape of the spacer 45 may be such that the inner ring 431 and the support shaft 42 do not contact the magnet Mq or the spacer 45 .
- the shape of the spacer 45 is not limited to the annular shape described above, and may be, for example, a disc shape with a recess in part.
- the material of the support shaft 42 may be a magnetic material.
- the flange portion 423 extending radially outward (perpendicular to the direction of the axis A) from the shaft body 420 can form a magnetic path for the magnetic flux from the magnet Mq.
- the support shaft 42 made of a magnetic material has the flange portion 423 functioning as a magnetic shield for the magnetic flux directed from the magnet Mq to the first bearing 43 and the second bearing 44 . can be prevented from acting as a magnetic path. Therefore, by forming the support shaft 42 from a magnetic material, it is possible to suppress the disturbance of the magnetic flux distribution on the angle detection surface side (upper side) of the magnet Mq and improve the detection accuracy of the angle error.
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Abstract
Description
以下、アブソリュートエンコーダ2の作用について説明する。
Claims (7)
- 一端が基板に固定され、他端にフランジ部を有する支持軸と、
内輪が前記支持軸に固定されている少なくとも一つの軸受と、
着磁されたマグネットと、
前記支持軸の軸線方向において前記軸受と前記マグネットとの間に配置されているスペーサと、
前記マグネットを保持するマグネットホルダと、
前記マグネットからの磁束を検知する磁気センサと、
を備え、
前記マグネットホルダは、
前記軸線方向の一方側が開放されている凹部であり前記軸受の外輪に固定される軸受固定部と、
前記軸受固定部の他端側に形成されている凹部であるマグネット保持部と、を有し、
前記軸受は、前記軸線方向における前記基板と前記フランジ部との間に配置され、
前記スペーサは、前記軸受固定部の内部において前記軸受の外輪に前記軸線方向から当接する、
アブソリュートエンコーダ。 - 前記基板は、前記支持軸を挿通可能な孔を有し、
前記支持軸は、一端に雄ネジ部を有し、前記孔に前記雄ネジ部を挿通して前記軸受とともに前記基板に固定されている、
請求項1に記載のアブソリュートエンコーダ。 - 前記軸線方向において前記基板と前記軸受との間に配置されているワッシャを備える、
請求項1または2に記載のアブソリュートエンコーダ。 - 前記スペーサは、径方向において前記軸受固定部の内周部に当接し、前記軸線方向において前記軸受の外輪に当接している、
請求項1から3のいずれか1項に記載のアブソリュートエンコーダ。 - 前記フランジ部は、前記軸線方向における一端側の面が前記軸受の内輪の円盤部に面している、
請求項1から4のいずれか1項に記載のアブソリュートエンコーダ。 - 前記スペーサは、円環状に形成されていて、内周面の内側に前記フランジ部が配置されている、
請求項1から5のいずれか1項に記載のアブソリュートエンコーダ。 - 前記支持軸は磁性材によって形成される、
請求項1から6のいずれか1項に記載のアブソリュートエンコーダ。
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US18/551,970 US20240175670A1 (en) | 2021-03-31 | 2022-03-11 | Absolute encoder |
EP22779968.1A EP4321842A1 (en) | 2021-03-31 | 2022-03-11 | Absolute encoder |
CN202280018292.4A CN116964417A (zh) | 2021-03-31 | 2022-03-11 | 绝对编码器 |
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JP2021062047A JP2022157689A (ja) | 2021-03-31 | 2021-03-31 | アブソリュートエンコーダ |
JP2021-062047 | 2021-03-31 |
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US20220170731A1 (en) * | 2019-03-28 | 2022-06-02 | Minebea Mitsumi Inc. | Absolute encoder |
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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 |
US20100052663A1 (en) * | 2008-08-30 | 2010-03-04 | Walter Mehnert | Sensor unit for a rotary encoder and a rotary encoder equipped with such a sensor unit |
JP2020112179A (ja) * | 2019-01-09 | 2020-07-27 | 株式会社デンソー | アクチュエータ |
WO2020203467A1 (ja) * | 2019-03-29 | 2020-10-08 | ミネベアミツミ株式会社 | アブソリュートエンコーダ |
-
2021
- 2021-03-31 JP JP2021062047A patent/JP2022157689A/ja active Pending
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2022
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- 2022-03-11 WO PCT/JP2022/010843 patent/WO2022209747A1/ja active Application Filing
- 2022-03-11 US US18/551,970 patent/US20240175670A1/en active Pending
- 2022-03-11 CN CN202280018292.4A patent/CN116964417A/zh active Pending
- 2022-03-30 TW TW111112130A patent/TW202303099A/zh unknown
Patent Citations (4)
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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 |
US20100052663A1 (en) * | 2008-08-30 | 2010-03-04 | Walter Mehnert | Sensor unit for a rotary encoder and a rotary encoder equipped with such a sensor unit |
JP2020112179A (ja) * | 2019-01-09 | 2020-07-27 | 株式会社デンソー | アクチュエータ |
WO2020203467A1 (ja) * | 2019-03-29 | 2020-10-08 | ミネベアミツミ株式会社 | アブソリュートエンコーダ |
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US20220170731A1 (en) * | 2019-03-28 | 2022-06-02 | Minebea Mitsumi Inc. | Absolute encoder |
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US20240175670A1 (en) | 2024-05-30 |
CN116964417A (zh) | 2023-10-27 |
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