阅读说明：本技术 多圈绝对值编码器 (Multi-turn absolute value encoder ) 是由 程秀章 于 2020-06-15 设计创作，主要内容包括：本发明涉及一种多圈绝对值编码器,包括：主体、主轴、主齿轮、多个行星齿轮、多码道绝对值编码盘和电路板；主轴转动设置于主体上,主齿轮、每个行星齿轮、多码道绝对值编码盘和电路板均设置于主体内部；主齿轮和多码道绝对值编码盘设置于主轴上,主齿轮与行星齿轮啮合连接,且每个行星齿轮上均设置有单极径向充磁磁铁；主轴转动带动主齿轮转动,主齿轮转动带动行星齿轮转动,电路板获取每个单极径向充磁磁铁相对于多码道绝对值编码盘的单极径向充磁磁铁数据,并将单极径向充磁磁铁数据发送至上位机,通过多码道绝对值编码盘和多个行星齿轮,可以有效地提高编码器的分辨率和精确度。(The invention relates to a multi-turn absolute value encoder, comprising: the device comprises a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code-channel absolute value coding disc and a circuit board; the main shaft is rotationally arranged on the main body, and the main gear, each planetary gear, the multi-code-channel absolute value coding disc and the circuit board are all arranged in the main body; the main gear and the multi-code-channel absolute value coding disc are arranged on the main shaft, the main gear is meshed with the planetary gears, and each planetary gear is provided with a single-pole radial magnetizing magnet; the main shaft rotates to drive the main gear to rotate, the main gear rotates to drive the planetary gears to rotate, the circuit board obtains the unipolar radial magnetizing magnet data of each unipolar radial magnetizing magnet relative to the multi-code-channel absolute value coding disc, the unipolar radial magnetizing magnet data are sent to the upper computer, and the resolution and the accuracy of the encoder can be effectively improved through the multi-code-channel absolute value coding disc and the plurality of planetary gears.)

1. A multi-turn absolute value encoder, comprising: the device comprises a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code-channel absolute value coding disc and a circuit board;

the main shaft is rotationally arranged on the main body, and the main gear, each planetary gear, the multi-code-channel absolute value coding disc and the circuit board are all arranged in the main body;

the main gear and the multi-code-channel absolute value coding disc are arranged on the main shaft, the main gear is meshed with the planetary gears, and each planetary gear is provided with a single-pole radial magnetizing magnet;

the main shaft rotates to drive the main gear to rotate, the main gear rotates to drive the planetary gear to rotate, the circuit board obtains the data of the monopole radial magnetizing magnets of each monopole radial magnetizing magnet relative to the multi-code-channel absolute value coding disc, and the data of the monopole radial magnetizing magnets are sent to an upper computer.

2. The multi-turn absolute value encoder of claim 1, wherein the planet gears comprise a first planet gear, a second planet gear, a third planet gear, and a fourth planet gear;

the first planetary gears, the second planetary gears, the third planetary gears and the fourth planetary gears are in surrounding engagement on the main gear;

the first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are all fixed on the main body through gear shafts, and are all provided with the unipolar radial magnetizing magnets.

3. The multi-turn absolute value encoder of claim 1, wherein the multi-track absolute value encoder disk comprises: a central code channel and an outer ring code channel;

the central track is a single-pole radial magnetizing magnetic ring, and the outer ring track is a plurality of single-pole radial magnetizing magnets.

4. The multi-turn absolute value encoder of claim 1, wherein the circuit board comprises: the reading device comprises a reading chip, a central processing circuit and an interface chip;

the reading chip and the interface chip are both connected with the central processing circuit;

the reading chip is used for reading the data of the single-pole radial magnetizing magnets on the main gear and the planetary gear;

the central processing circuit is used for decoding the unipolar radial magnetizing magnet data into absolute position information;

and the interface chip is used for sending the absolute position information to an upper computer.

5. The multi-turn absolute value encoder of claim 4, further comprising: a Hall sensor;

the Hall sensor is connected with the circuit board, and the reading chip acquires the data of the unipolar radial magnetizing magnet through the Hall sensor.

6. The multi-turn absolute value encoder of claim 1, further comprising: an upper cover;

the upper cover is used for covering the main body so as to isolate the main gear, each planetary gear, the multi-code track absolute value coding disc and the circuit board inside the main body from the outside.

7. The multi-turn absolute value encoder of claim 1, further comprising: a bearing;

the bearing is arranged between the main shaft and the main body, and the main shaft drives the bearing to rotate when rotating so that the main body keeps static relative to the circuit board.

8. The multi-turn absolute value encoder of claim 1, further comprising: an AI module;

the AI module is connected with the circuit board and used for acquiring the current working information of the multi-turn absolute value encoder and sending the current working information to an upper computer.

9. The multi-turn absolute value encoder of claim 4, wherein the interface chip comprises a wireless interface component;

the wireless interface component is connected with the central processing circuit, and the multi-turn absolute value encoder realizes data wireless transmission through the wireless interface component.

10. The multi-turn absolute value encoder according to claim 2, wherein the number of teeth of the main gear is 59, the number of teeth of the first planetary gear is 37, the number of teeth of the second planetary gear is 39, the number of teeth of the third planetary gear is 41, and the number of teeth of the fourth planetary gear is 43.

Technical Field

The invention relates to the technical field of encoders, in particular to a multi-turn absolute value encoder.

Background

Absolute value encoders are typically made according to two principles, one being optical and the other being magnetoelectric. The optical principle usually adopts a grating system, and due to the problem of large size of the grating system, the practical application is limited by many conditions, so that the absolute value encoder based on the magnetoelectric principle is more and more widely applied.

However, most structurally simple magnetoelectric encoders have relatively low resolution and accuracy.

Disclosure of Invention

In view of the above, the present invention is directed to overcome the deficiencies of the prior art and to provide a multi-turn absolute encoder for improving the resolution and accuracy of the absolute encoder.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multi-turn absolute value encoder comprising: the device comprises a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code-channel absolute value coding disc and a circuit board;

the main shaft is rotationally arranged on the main body, and the main gear, each planetary gear, the multi-code-channel absolute value coding disc and the circuit board are all arranged in the main body;

the main gear and the multi-code-channel absolute value coding disc are arranged on the main shaft, the main gear is meshed with the planetary gears, and each planetary gear is provided with a single-pole radial magnetizing magnet;

the main shaft rotates to drive the main gear to rotate, the main gear rotates to drive the planetary gear to rotate, the circuit board obtains the data of the monopole radial magnetizing magnets of each monopole radial magnetizing magnet relative to the multi-code-channel absolute value coding disc, and the data of the monopole radial magnetizing magnets are sent to an upper computer.

Optionally, the planetary gears include a first planetary gear, a second planetary gear, a third planetary gear and a fourth planetary gear;

the first planetary gears, the second planetary gears, the third planetary gears and the fourth planetary gears are in surrounding engagement on the main gear;

the first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are all fixed on the main body through gear shafts, and are all provided with the unipolar radial magnetizing magnets.

Optionally, the multi-channel absolute value encoding disc includes: a central code channel and an outer ring code channel;

the central track is a single-pole radial magnetizing magnetic ring, and the outer ring track is a plurality of single-pole radial magnetizing magnets.

Optionally, the circuit board includes: the reading device comprises a reading chip, a central processing circuit and an interface chip;

the reading chip and the interface chip are both connected with the central processing circuit;

the reading chip is used for reading the data of the single-pole radial magnetizing magnets on the main gear and the planetary gear;

the central processing circuit is used for decoding the unipolar radial magnetizing magnet data into absolute position information;

and the interface chip is used for sending the absolute position information to an upper computer.

Optionally, the multi-turn absolute value encoder further includes a hall sensor;

the Hall sensor is connected with the circuit board, and the reading chip acquires the data of the unipolar radial magnetizing magnet through the Hall sensor.

Optionally, the above-mentioned multi-turn absolute value encoder further comprises an upper cover;

the upper cover is used for covering the main body so as to isolate the main gear, each planetary gear, the multi-code track absolute value coding disc and the circuit board inside the main body from the outside.

Optionally, the multi-turn absolute value encoder further includes a bearing;

the bearing is arranged between the main shaft and the main body, and the main shaft drives the bearing to rotate when rotating so that the main body keeps static relative to the circuit board.

Optionally, the multi-turn absolute value encoder further includes an AI module;

the AI module is connected with the circuit board and used for acquiring the current working information of the multi-turn absolute value encoder and sending the current working information to an upper computer.

Optionally, the interface chip includes a wireless interface component;

the wireless interface component is connected with the central processing circuit, and the multi-turn absolute value encoder realizes data wireless transmission through the wireless interface component.

Optionally, the number of teeth of the main gear is 59, the number of teeth of the first planetary gear is 37, the number of teeth of the second planetary gear is 39, the number of teeth of the third planetary gear is 41, and the number of teeth of the fourth planetary gear is 43.

The beneficial effect of this application does:

the invention provides a multi-turn absolute value encoder, comprising: the device comprises a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code-channel absolute value coding disc and a circuit board; the main shaft is rotationally arranged on the main body, and the main gear, each planetary gear, the multi-code-channel absolute value coding disc and the circuit board are all arranged in the main body; the main gear and the multi-code-channel absolute value coding disc are arranged on the main shaft, the main gear is meshed with the planetary gears, and each planetary gear is provided with a single-pole radial magnetizing magnet; the main shaft rotates to drive the main gear to rotate, the main gear rotates to drive the planetary gear to rotate, the circuit board obtains the unipolar radial magnetizing magnet data of each unipolar radial magnetizing magnet relative to the multi-code-channel absolute value coding disc, and the unipolar radial magnetizing magnet data are sent to the upper computer. By adopting the technical scheme of the application, through the cooperation of the main gear and the plurality of planetary gears and the combined action of the multi-code-track absolute value coding disc, the single-circle resolution can reach 24 bits, and the multi-circle resolution can reach 21 bits (2544009 absolute position counting is realized), and due to the small size, the magneto-electric encoder is suitable for various different environments, and the resolution and the accuracy of the magneto-electric encoder with a simple structure are effectively improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of an overall cross-sectional structure of a multi-turn absolute value encoder according to an embodiment of the present invention;

FIG. 2 is a schematic view of the spindle of FIG. 1;

FIG. 3a is a front view of the body of FIG. 1;

FIG. 3b is a top view of the body of FIG. 1;

FIG. 4 is a schematic structural view of the main gear and the planetary gears of FIG. 1;

fig. 5 is a schematic diagram of the structure of the multi-track absolute value encoder disk in fig. 1.

In the figure: 1. a main body; 2. a main shaft; 3. a main gear; 4. a planetary gear; 41. a first planetary gear; 42. a second planetary gear; 43 a third planetary gear; 44. a fourth planetary gear; 5. a multi-code channel absolute value coding disc; 6. a circuit board; 7. a single-pole radially magnetized magnet; 8. a Hall sensor; 9. an upper cover; 10. a bearing; 11. a gear shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Fig. 1 is a schematic overall sectional view of a multi-turn absolute value encoder according to an embodiment of the present invention, fig. 2 is a schematic structural view of a main shaft in fig. 1, fig. 3a is a front view of a main body in fig. 1, fig. 3b is a top view of the main body in fig. 1, fig. 4 is a schematic structural view of a main gear and a planetary gear in fig. 1, and fig. 5 is a schematic structural view of a multi-track absolute value encoder disk in fig. 1.

As shown in fig. 1 to 5, fig. 1 is a schematic cross-sectional view of an overall structure, and fig. 5 is a schematic structural view and an effect view of a multi-track absolute value encoder disk 5, and a complete understanding of the encoder of the present application can be realized through different cut-in angles in the figures, where a multi-turn absolute value encoder of the present embodiment includes: the device comprises a main body 1, a main shaft 2, a main gear 3, a plurality of planet gears 4, a multi-code-channel absolute value coding disc 5 and a circuit board 6, wherein the main shaft 2 is rotatably arranged on the main body 1, and the main gear 3, each planet gear 4, the multi-code-channel absolute value coding disc 5 and the circuit board 6 are all arranged inside the main body 1; the main gear 3 and the multi-code-channel absolute value encoding disk 5 are arranged on the main shaft 2, the main gear 3 is meshed with the planetary gears 4, and each planetary gear 4 is provided with a single-pole radial magnetizing magnet 7; the main shaft 2 rotates to drive the main gear 3 to rotate, the main gear 3 rotates to drive the planetary gear 4 to rotate, the circuit board 6 obtains data of the unipolar radial magnetizing magnets 7 of each unipolar radial magnetizing magnet 7 relative to the multi-code-track absolute value encoding disc 5, and the unipolar radial magnetizing magnets 7 are sent to the upper computer.

In a specific implementation process, the planetary gears 4 may be four, which are respectively a first planetary gear 41, a second planetary gear 42, a third planetary gear 43 and a fourth planetary gear 44, the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 are circularly meshed with the main gear 3, the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 are all fixed on the main body 1 through the gear shaft 11 and are all provided with the unipolar radial magnetizing magnets 7, the number of gears of each planetary gear 4 is relatively prime, in this embodiment, the number of teeth of the main gear 3 is 59, the number of teeth of the first planetary gear 41 is 37, the number of teeth of the second planetary gear 42 is 39, the number of teeth of the third planetary gear 43 is 41, the number of teeth of the fourth planetary gear 44 is 43, it should be noted that the number of specific gears is not strictly limited, but merely to illustrate one implementation for clarity. 152640539 absolute positions can be determined by the main gear 3 and the four planet gears 4, which greatly improves the resolution of the encoder. Whereas the multi-channel absolute value code disk 5 may include: a central code channel and an outer ring code channel; the central track is a single-pole radial magnetizing magnetic ring, and the outer track is a plurality of single-pole radial magnetizing magnets 7. The coding principle is as follows: the central code channel outputs 1 group of 01 data and the outer code channel outputs 128 groups of 01 data. The decoding principle is that the data of the central code channel and the outer code channel are subdivided to generate 2 groups of data, the 2 groups of data are corrected and then spliced, and 21-bit absolute value data is output. The size of the multi-code-channel absolute value coding disc 5 is phi 12mm phi 3mm 0.2mm, the central code channel is a radial magnetizing magnetic ring with the size of phi 2mm phi 1mm, and the edge of the outer code channel is 128 radial magnetizing magnets with the size of phi 12mm phi 8mm 2.8125 degrees. It should also be noted that the specific dimensions, sizes, number of tracks, and number of magnets are merely illustrative and may be other numbers, such as 32/60/1000 for the number of magnets around the tracks.

The multi-track absolute value coding disc 5 and the main gear 3 are arranged on the main shaft 2, the four single-pole radial magnetizing magnets 7 are respectively arranged on the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44, the planetary gears 4 and the main shaft 2 move synchronously, the main shaft 2 drives the planetary gears 4 to work through the main gear 3, and the circuit board 6 reads data of the 5 multi-track absolute value coding discs 5 and processes the data. The specific processed circuit board 6 may include: the reading device comprises a reading chip, a central processing circuit and an interface chip; the reading chip and the interface chip are both connected with the central processing circuit; the reading chip is used for reading the data of the single-pole radial magnetizing magnet 7 on the main gear 3 and the planetary gear 4; the central processing circuit is used for decoding the data of the unipolar radial magnetizing magnet 7 into absolute position information; the interface chip is used for sending the absolute position information to an upper computer, and can be a wireless interface component; the wireless interface component is connected with the central processing circuit, and the multi-turn absolute value encoder realizes data wireless transmission through the wireless interface component. Through the common processing of the reading chip and the central processing circuit, the information such as the current angle information, angular acceleration, environmental temperature, power supply voltage, working state and the like of the encoder can be transmitted to an upper computer system, so that the upper computer can perform subsequent processing.

The core of the whole operation relates to the specific counting process, and the multi-turn counting system is illustrated by taking one main gear 3, four planet gears 4, the number of teeth of the main gear 3 is 59, and the number of teeth of the planet gears 4 is 37, 39, 41 and 43 respectively as an example in the embodiment. The main shaft 2 rotates to drive the main gear 3 to rotate, the main gear 3 rotates to drive the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 to synchronously work at the same time, a multi-planetary system is formed, a reading chip reads data of a single-pole radial magnetizing magnet 7 on the gears, absolute position information of each tooth is determined by subdividing and calibrating the data, the reading chip corresponding to the main gear 3 outputs 0-58 absolute position information, the reading chip corresponding to the first planetary gear 41 outputs 0-36 absolute position information, the reading chip corresponding to the second planetary gear 42 outputs 0-38 absolute position information, the reading chip corresponding to the third planetary gear 43 outputs 0-40 absolute position information, and the reading chip corresponding to the fourth planetary gear 44 outputs 0-42 absolute position information. An array group consisting of five gears can form 152640539 absolute positions, 150096530 data are changed into an increasing or decreasing sequence after table lookup and decoding, in the sequence, from a starting point, 59 data at every equal distance correspond to one circle of rotation of the encoder spindle 2, namely, a single-circle position, magnet data at the position are subdivided to realize 2544009 absolute position counting, and then are corrected and linked with 21-bit absolute value data of an extracted multi-code-track absolute value encoding disc (the data of a 21-bit central code track and an outer ring code track are subdivided to generate 2 groups of data, and the 2 groups of data are output after being corrected and spliced), 5335173562368 pieces of absolute position information are output, and the total number of bits is more than 42 bits. Specific gear specifications are shown in table 1, and a multi-turn count decoding table is shown in table 2.

TABLE 1 Gear parameter COMPARATIVE TABLE

TABLE 2 multicomputer decoding table

Further, as shown in fig. 1, the multi-turn absolute value encoder of the present embodiment further includes an upper cover 9; the upper cover 9 is used to cover the main body 1 to isolate the main gear 3, each planetary gear 4, the multi-track absolute value encoder disk 5 and the circuit board 6 inside the main body 1 from the outside. The upper cover 9 can realize effective protection of the combination of the multiple coding discs and the gear, and is beneficial to prolonging the service life of the encoder. Meanwhile, for the encoder to work better, a bearing 10 is arranged between the main shaft 2 and the main body 1, and the main shaft 2 drives the bearing 10 to rotate when rotating so that the main body 1 is kept static relative to the circuit board 6. A bearing 10 is provided to allow the rotation of the main shaft 2 to be smoother.

Further, the multi-turn absolute value encoder in this embodiment further includes an AI module; the AI module is connected with the circuit board 6 and is used for acquiring the current work information of the multi-turn absolute value encoder, sending the current work information to the upper computer, adding artificial intelligence factors, and integrating relevant factors of 5G communication better, thereby facilitating subsequent series of operations and the like.

It should be specially emphasized that two code channels of the multi-code-channel absolute value code disc 5 can also be replaced by the multi-code-channel absolute value code disc 5 combining the optical reflection type code disc and the magnet, and can also be replaced by the all-optical reflection type code disc, and the application has no limitation, and meanwhile, the size, the material, the number of the lines of engraving and the like of the code disc can be set according to the actual requirements of the code disc, for example, the thickness of 1mm can be adjusted to 0.5mm, the material of alnico, glass, the number of the lines of engraving can be adjusted to 32, 60, 1000 and the like, and the code disc in the application is an axial code disc, and the code channels are upward or changed to the side. The description of the four planetary gears 4 in the application can also be made of 1 or more gears, such as 17, 19, 21, 23 and 25, the gear specification can be changed, such as modulus, material, tooth number, type and the like, the gear counting mode can also be changed from a magnet + reading chip to a code disc + reading chip, and gear data can also be directly measured by a gear sensor. Similarly, the multi-turn counting system may have different algorithms, such as decoding the first set of data 0, 0 to 150096530 or other values. The present embodiment is described by way of example only, and is not intended to be limiting in any way.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.