Encoder and position detection method thereof
阅读说明:本技术 编码器及其位置检测方法 (Encoder and position detection method thereof ) 是由 王宏洲 林正平 于 2018-08-27 设计创作,主要内容包括:一种编码器,包括磁石、光学码盘、磁感测组件、光学感测组件及信号处理单元。光学码盘具有第一增量图纹轨道及第二增量图纹轨道,磁石及光学码盘为共轴设置并可旋转。磁感测组件感测磁石旋转以获得绝对位置信号,光学感测组件感测光学码盘旋转以获得第一增量位置信号及第二增量位置信号。信号处理单元整合信号以获得高精细绝对位置信息。(An encoder comprises a magnet, an optical code disc, a magnetic sensing assembly, an optical sensing assembly and a signal processing unit. The optical code disc is provided with a first increment pattern track and a second increment pattern track, and the magnet and the optical code disc are coaxially arranged and can rotate. The magnetic sensing assembly senses the rotation of the magnet to obtain an absolute position signal, and the optical sensing assembly senses the rotation of the optical code disc to obtain a first incremental position signal and a second incremental position signal. The signal processing unit integrates the signals to obtain high-definition absolute position information.)
1. An encoder, comprising:
a carrying tray;
a magnet arranged on the bearing disc;
the optical code disc is arranged on the bearing disc and surrounds the magnet, the optical code disc is provided with a first increment pattern track and a second increment pattern track, the first increment pattern track and the second increment pattern track are respectively arranged along the circumferential direction of the optical code disc, and the bearing disc, the magnet and the optical code disc are coaxially arranged by taking a rotating shaft as an axis and can rotate;
a shell, which is arranged corresponding to the bearing disc, and the bearing disc, the magnet and the optical code disc can generate the motion corresponding to the shell;
a circuit board disposed on the housing;
a magnetic sensing component, which is arranged on the circuit board and corresponds to the magnet so as to carry out magnetic sensing and obtain an absolute position signal when the magnet moves relative to the shell;
the optical sensing assembly is arranged on the circuit board and corresponds to the first incremental pattern track and the second incremental pattern track of the optical code disc so as to perform optical sensing and obtain a first incremental position signal and a second incremental position signal when the optical code disc moves relative to the shell; and
and the signal processing unit is arranged on the circuit board and used for receiving and integrating the absolute position signal, the first incremental position signal and the second incremental position signal so as to obtain absolute position information.
2. The encoder of claim 1, wherein the center of the magnetic sensing element is located on the rotational axis.
3. The encoder of claim 1, wherein the center of the magnetic sensing assembly is disposed off the axis of rotation.
4. The encoder of claim 1, wherein the magnetic sensing element comprises a magnetoresistive element, the magnetoresistive element being a hall element, an anisotropic magnetoresistive element, a giant magnetoresistive element or a tunneling magnetoresistive element.
5. The encoder of claim 1 wherein the first incremental pattern track has M first incremental patterns per revolution in the circumferential direction of the optical code disk, the second incremental pattern track has N second incremental patterns per revolution in the circumferential direction of the optical code disk, where M and N are integers and N is greater than M, and each of the first incremental patterns and each of the second incremental patterns has a low reflectance region and a high reflectance region.
6. The encoder of claim 5, wherein the optical sensor assembly comprises a light-emitting element and at least one light-receiving element, the light-receiving element has a first incremental light-receiving area and a second incremental light-receiving area, and the first incremental light-receiving area and the second incremental light-receiving area are respectively located at two sides of the light-emitting element;
the light-emitting element emits a light to the first incremental pattern track and the second incremental pattern track, the first incremental light-receiving area receives the light reflected by the first incremental pattern track and obtains a first incremental position signal, and the second incremental light-receiving area receives the light reflected by the second incremental pattern track and obtains a second incremental position signal.
7. The encoder of claim 6, wherein the light emitting element has a light emitting area, wherein the light emitting area has a width in a circumferential tangential direction of the optical code disc, the second incremental pattern has a pitch in the circumferential tangential direction, and the width is 0.5 to 1.5 times the pitch.
8. The encoder of claim 6, wherein the optical sensing assembly further comprises a substrate disposed on the circuit board, the light-receiving element disposed on the substrate, and the light-emitting element disposed on the light-receiving element.
9. The encoder of claim 6, wherein the optical sensor assembly further comprises a substrate and two light-receiving elements, the substrate is disposed on the circuit board, and the light-emitting element and the two light-receiving elements are disposed on the substrate, wherein the two light-receiving elements are respectively disposed at two sides of the light-emitting element and respectively have the first incremental light-receiving area and the second incremental light-receiving area.
10. The encoder of claim 9, wherein the light emitting element is flush with the height of the two light receiving elements.
11. The encoder of claim 6, wherein the first incremental light-receiving section and the second incremental light-receiving section have a plurality of first sensing patterns and a plurality of second sensing patterns, respectively, and the plurality of first sensing patterns and the plurality of second sensing patterns are arranged in a phased array manner, respectively.
12. A position detection method of an encoder, comprising the steps of:
(a) providing an encoder, wherein the encoder comprises a magnet, an optical code disc, a magnetic sensing component and an optical sensing component, the optical code disc surrounds the magnet and is provided with a first increment pattern track and a second increment pattern track which are arranged along a circumferential direction of the optical code disc, the magnetic sensing component corresponds to the magnet, and the optical sensing component corresponds to the first increment pattern track and the second increment pattern track of the optical code disc;
(b) performing magnetic sensing by the magnetic sensing assembly when the magnet moves relatively and obtaining an absolute position signal with one period per rotation of the magnet;
(c) the optical sensing component is used for carrying out optical sensing when the optical code disc relatively moves, and obtaining a first increment position signal with an integral number of M periods per rotation of the optical code disc and a second increment position signal with an integral number of N periods per rotation of the optical code disc;
(d) analyzing the absolute position signal, the first incremental position signal and the second incremental position signal, and respectively obtaining primary absolute position information, first incremental position information and second incremental position information;
(e) analyzing a first position according to the preliminary absolute position information;
(f) the first position corresponds to the first incremental position information, and a second position is obtained through analysis; and
(g) and corresponding the second position to the second incremental position information, and analyzing to obtain a third position, wherein the third position is an absolute position.
13. The position detecting method of an encoder according to claim 12, wherein the step (d), the step (e), the step (f) and the step (g) are implemented by a signal processing unit, M is 16, 32, 64 or 128, and N is 256, 512, 1024, 2048, 4096 or 8192.
14. A position detection method of an encoder, comprising the steps of:
(a) providing an encoder, wherein the encoder comprises a magnet, an optical code disc, a magnetic sensing component and an optical sensing component, the optical code disc surrounds the magnet and is provided with a first increment pattern track and a second increment pattern track which are arranged along a circumferential direction of the optical code disc, the magnetic sensing component corresponds to the magnet, and the optical sensing component corresponds to the first increment pattern track and the second increment pattern track of the optical code disc;
(b) performing magnetic sensing by the magnetic sensing assembly when the magnet moves relatively and obtaining an absolute position signal with one period per rotation of the magnet;
(c) the optical sensing component is used for carrying out optical sensing when the optical code disc relatively moves, and obtaining a first increment position signal with an integral number of M periods per rotation of the optical code disc and a second increment position signal with an integral number of N periods per rotation of the optical code disc, wherein N is larger than M;
(d) analyzing the absolute position signal, the first incremental position signal and the second incremental position signal, and respectively obtaining primary absolute position information, first incremental position information and second incremental position information;
(e) analyzing the first incremental position information and the second incremental position information, and obtaining third incremental position information with (N-M) periods for each rotation of the optical code disc;
(f) analyzing a first position according to the preliminary absolute position information;
(g) the first position corresponds to the third incremental position information, and a second position is obtained through analysis; and
(h) and corresponding the second position to the second incremental position information, and analyzing to obtain a third position, wherein the third position is an absolute position.
15. The position detecting method of an encoder according to claim 14, wherein the step (d), the step (e), the step (f), the step (g) and the step (h) are implemented by a signal processing unit, N is 256, 512, 1024, 2048, 4096 or 8192, and (N-M) is 16, 32, 64 or 128.
Technical Field
The present invention relates to an encoder and a position detecting method thereof, and more particularly, to an encoder and a position detecting method thereof, which can obtain an absolute position signal and an incremental position signal through a magnetic sensing device and an optical sensing device and integrate the signals to obtain high-precision absolute position information.
Background
With the development of science and technology, encoder technology is widely applied to the field of control of precision instruments such as motor rotation speed measurement and position detection, for example, absolute encoders can be used for detecting the rotation number, rotation direction and rotation position of a motor.
Disclosure of Invention
It is therefore an object of the present invention to provide an encoder and a position detecting method thereof, which solve and improve the problems and disadvantages of the prior art.
Another object of the present invention is to provide an encoder and a position detecting method thereof, which can obtain an absolute position signal, a first incremental position signal and a second incremental position signal by a magnetic sensing element and an optical sensing element, and integrate the signals by a signal processing unit, thereby achieving high-precision absolute position sensing and obtaining high-precision absolute position information.
Another objective of the present invention is to provide an encoder and a position detecting method thereof, wherein the encoder can be thinned by arranging a magnetic sensing element and a magnet through an optical reflective structure in which a light emitting element and a light receiving element of an optical sensing element are arranged corresponding to one side of an optical code disc.
Another objective of the present invention is to provide an encoder and a position detecting method thereof, which obtain an absolute position signal through a magnetic sensing device, so that the encoder has a higher tolerance to environmental pollution. Moreover, the optical sensing assembly is provided with an incremental light receiving area and sensing patterns arranged in a phase array mode, so that the stability of the encoder can be improved.
Another object of the present invention is to provide an encoder and a position detecting method thereof, wherein the center of the magnetic sensing assembly can be located on the rotating shaft or off-axis, so that the encoder has a larger production assembly margin and is easier to assemble.
To achieve the above object, a preferred embodiment of the present invention provides an encoder, comprising: a carrying tray; a magnet arranged on the bearing disc; the optical code disc is arranged on the bearing disc and surrounds the magnet, the optical code disc is provided with a first incremental pattern track and a second incremental pattern track, the first incremental pattern track and the second incremental pattern track are respectively arranged along the circumferential direction of the optical code disc, and the bearing disc, the magnet and the optical code disc are coaxially arranged by taking a rotating shaft as an axis and can rotate; the shell is arranged corresponding to the bearing disc, and the bearing disc, the magnet and the optical code disc can move corresponding to the shell; a circuit board arranged on the shell; the magnetic sensing assembly is arranged on the circuit board and corresponds to the magnet, so that magnetic sensing is carried out when the magnet moves corresponding to the shell, and an absolute position signal is obtained; the optical sensing assembly is arranged on the circuit board and corresponds to the first incremental pattern track and the second incremental pattern track of the optical code disc so as to perform optical sensing and obtain a first incremental position signal and a second incremental position signal when the optical code disc moves corresponding to the shell; and the signal processing unit is arranged on the circuit board and used for receiving and integrating the absolute position signal, the first incremental position signal and the second incremental position signal so as to obtain high-precision absolute position information.
To achieve the above object, another preferred embodiment of the present invention provides a position detecting method for an encoder, comprising: (a) an encoder is provided, which includes a magnet, an optical encoder, a magnetic sensing element, and an optical sensing element. The optical code disc surrounds the magnet and is provided with a first increment pattern track and a second increment pattern track which are arranged along the circumferential direction of the optical code disc, the magnetic sensing assembly corresponds to the magnet, and the optical sensing assembly corresponds to the first increment pattern track and the second increment pattern track of the optical code disc; (b) the magnetic sensing assembly performs magnetic sensing when the magnet moves relatively and obtains an absolute position signal with one period when the magnet rotates for one circle; (c) the optical sensing assembly performs optical sensing when the optical code disc relatively moves and obtains a first increment position signal with an integral number of M periods per rotation of the optical code disc and a second increment position signal with an integral number of N periods per rotation of the optical code disc; (d) analyzing the absolute position signal, the first incremental position signal and the second incremental position signal, and respectively obtaining primary absolute position information, first incremental position information and second incremental position information; (e) analyzing a first position according to the preliminary absolute position information; (f) the first position corresponds to the first incremental position information, and a second position is obtained through analysis; and (g) corresponding the second position to second incremental position information, and analyzing to obtain a third position, wherein the third position is a high-precision absolute position.
To achieve the above object, another preferred embodiment of the present invention provides a position detecting method for an encoder, comprising: (a) an encoder is provided, which includes a magnet, an optical encoder, a magnetic sensing element, and an optical sensing element. The optical code disc surrounds the magnet and is provided with a first increment pattern track and a second increment pattern track which are arranged along the circumferential direction of the optical code disc, the magnetic sensing assembly corresponds to the magnet, and the optical sensing assembly corresponds to the first increment pattern track and the second increment pattern track of the optical code disc; (b) the magnetic sensing assembly performs magnetic sensing when the magnet moves relatively and obtains an absolute position signal with one period when the magnet rotates for one circle; (c) the optical sensing assembly performs optical sensing when the optical code disc relatively moves and obtains a first increment position signal with an integral number of M periods per rotation of the optical code disc and a second increment position signal with an integral number of N periods per rotation of the optical code disc, wherein N is larger than M; (d) analyzing the absolute position signal, the first incremental position signal and the second incremental position signal, and respectively obtaining primary absolute position information, first incremental position information and second incremental position information; (e) analyzing the first incremental position information and the second incremental position information, and obtaining third incremental position information with (N-M) periods every time the optical code disc rotates one circle; (f) analyzing a first position according to the preliminary absolute position information; (g) the first position corresponds to third incremental position information, and a second position is obtained through analysis; and (h) corresponding the second position to second incremental position information, and analyzing to obtain a third position, wherein the third position is a high-precision absolute position.
Drawings
FIG. 1 is a schematic cross-sectional view of an encoder according to a preferred embodiment of the present invention.
FIG. 2 is a schematic diagram showing a part of the structure of an encoder according to a preferred embodiment of the present invention.
FIG. 3A is a schematic diagram showing the structure of an optical code wheel of an encoder according to a preferred embodiment of the present invention.
FIG. 3B is a partially enlarged schematic view showing the optical code wheel shown in FIG. 3A.
FIG. 4A is a top view of a magnet and a magnetic sensing element of an encoder according to a preferred embodiment of the invention.
FIG. 4B is a sectional side view of the magnet and magnetic sensing assembly of the encoder of the preferred embodiment of the present invention.
FIG. 5A is a top view of a magnet and a magnetic sensing element of an encoder according to another preferred embodiment of the invention.
FIG. 5B is a sectional side view of a magnet and a magnetic sensing element of an encoder according to another preferred embodiment of the invention.
FIG. 6A is a schematic view of an optical sensor assembly of an encoder according to a preferred embodiment of the invention.
Fig. 6B is a partially enlarged schematic view illustrating the optical sensing assembly shown in fig. 6A.
FIG. 7A is a schematic view showing the structure of the light-emitting element of the optical sensing device of the encoder according to the preferred embodiment of the invention.
FIG. 7B is a schematic diagram showing the structure of the light-emitting element of the optical sensing assembly of the encoder according to another preferred embodiment of the present invention.
FIG. 8A is a schematic diagram showing the structure of the optical code wheel and the optical sensing assembly of the encoder according to the preferred embodiment of the invention.
FIG. 8B is a schematic diagram showing the structure of the optical code disc and the optical sensing assembly of the encoder according to another preferred embodiment of the present invention.
FIG. 9 is a flow chart showing a position detecting method of an encoder according to a preferred embodiment of the invention.
FIG. 10 is a schematic diagram illustrating position information obtained by the position detecting method of the encoder according to the preferred embodiment of the invention.
FIG. 11 is a flow chart showing a position detecting method of an encoder according to another preferred embodiment of the present invention.
FIG. 12 is a schematic diagram illustrating position information obtained by a position detecting method of an encoder according to another preferred embodiment of the invention.
Description of reference numerals:
1: encoder for encoding a video signal
2: bearing plate
3: magnet
4: optical code disc
41: first incremental pattern track
410: first incremental pattern
410a, 420 a: low reflection coefficient region
410b, 420 b: high reflection coefficient region
42: second incremental patterned track
420: second incremental pattern
5: shell body
6: circuit board
7: magnetic sensing assembly
8: optical sensing assembly
80: base material
81: light emitting element
810: light emitting area
811: electrode for electrochemical cell
82: light collecting element
821: first incremental light-receiving region
8210: first sensing pattern
822: second incremental light-receiving region
8220: second sensing pattern
9: signal processing unit
10: locking screw
A: rotating shaft
D: in the circumferential direction
d: direction of circumferential tangent
L: light ray
P: pitch of
R: in the radial direction
W: width of
a: first position
b. b': second position
c: third position
S1, S2, S3, S4, S5, S6, S7, S11, S12, S13, S14, S15, S16, S17, S18: step (ii) of
Detailed Description
Some exemplary embodiments that embody features and advantages of the invention will be described in detail in the description that follows. As will be realized, the invention is capable of other and different modifications and its several details are capable of modifications in various obvious respects, all without departing from the invention, and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
Referring to fig. 1, fig. 2, fig. 3A and fig. 3B, wherein fig. 1 is a schematic cross-sectional structure diagram of an encoder according to a preferred embodiment of the present invention, fig. 2 is a schematic partial structure diagram of the encoder according to the preferred embodiment of the present invention, fig. 3A is a schematic structural diagram of an optical code disc of the encoder according to the preferred embodiment of the present invention, and fig. 3B is a schematic partial enlarged view of the optical code disc shown in fig. 3A. As shown in fig. 1, 2, 3A and 3B, an encoder 1 of the present invention includes a carrier plate 2, a
The
In other words, the encoder of the present invention obtains the absolute position signal, the first incremental position signal and the second incremental position signal through the magnetic sensing element and the optical sensing element, respectively, and the signal processing unit performs integration and processing, thereby achieving high-precision absolute position sensing and obtaining high-precision absolute position information.
Referring to fig. 1, 4A and 4B, fig. 4A is a top view of a magnet and a magnetic sensing element of an encoder according to a preferred embodiment of the invention, and fig. 4B is a cross-sectional side view of the magnet and the magnetic sensing element of the encoder according to the preferred embodiment of the invention. As shown in fig. 1, 4A and 4B, in some embodiments, the center of the
Referring to fig. 1, 5A and 5B, fig. 5A is a top view of a magnet and a magnetic sensing element of an encoder according to another preferred embodiment of the present invention, and fig. 5B is a cross-sectional side view of the magnet and the magnetic sensing element of the encoder according to another preferred embodiment of the present invention. As shown in fig. 1, 5A and 5B, in some embodiments, the center of the
In other words, according to the encoder and the position detecting method thereof of the present invention, the center of the magnetic sensing assembly can be located on the rotating shaft or off-axis, so that the encoder has a larger production assembly margin and is easier to design and assemble.
Please refer to fig. 1, fig. 2, fig. 3A, fig. 3B, fig. 6A, fig. 6B, fig. 7A, fig. 7B, fig. 8A and fig. 8B, wherein fig. 6A is a schematic structural diagram illustrating an optical sensing assembly of an encoder according to a preferred embodiment of the present invention, fig. 6B is a schematic partial enlarged view illustrating the optical sensing assembly shown in fig. 6A, fig. 7A is a schematic structural diagram illustrating a light emitting element of the optical sensing assembly of the encoder according to the preferred embodiment of the present invention, fig. 7B is a schematic structural diagram illustrating a light emitting element of the optical sensing assembly of an encoder according to another preferred embodiment of the present invention, fig. 8A is a schematic structural diagram illustrating an optical code wheel and an optical sensing assembly of the encoder according to a preferred embodiment of the present invention, and fig. 8B is a schematic structural diagram illustrating an optical code wheel and an optical sensing assembly of the encoder according to another preferred. As shown in FIGS. 1, 2, 3A, 3B, 6A, 6B, 7A, 7B, 8A and 8B, in some embodiments, the first
In some embodiments, the
For example, the
In some embodiments, the light-emitting
In some embodiments, the
In some embodiments, the first incremental light-receiving area 821 and the second incremental light-receiving area 822 have a plurality of first sensing patterns 8210 and a plurality of
In other words, the encoder and the position detection method thereof of the present invention can realize the thinning of the encoder by the arrangement of the magnetic sensing component and the magnet through the optical reflection type framework that the light emitting component and the light receiving component of the optical sensing component are arranged corresponding to one side of the optical code disc. And, obtain the absolute position signal through the magnetic sensing subassembly for the encoder has higher environmental pollution resistance bearing capacity, and the optical sensing subassembly has increment light-receiving area and adopts the sensing pattern that the phase array mode was arranged, can make the stability of encoder promote.
Referring to fig. 1, fig. 2, fig. 3A, fig. 9 and fig. 10, in which fig. 9 is a flowchart illustrating a position detecting method of an encoder according to a preferred embodiment of the present invention, and fig. 10 is a schematic diagram illustrating position information obtained by the position detecting method of the encoder according to the preferred embodiment of the present invention. As shown in fig. 1, fig. 2, fig. 3A, fig. 9 and fig. 10, the position detecting method of the encoder according to the preferred embodiment of the present invention includes the following steps: first, as shown in step S1, an encoder 1 is provided, wherein the encoder 1 comprises a
Then, in step S4, the absolute position signal, the first incremental position signal and the second incremental position signal are analyzed to obtain preliminary absolute position information, first incremental position information and second incremental position information, respectively. The absolute position signal variation of one cycle generated by one rotation provided by the
Next, as shown in step S5, a first position a is analyzed from the preliminary absolute position information, please refer to fig. 10. Then, as shown in step S6, the first position a is mapped to the cycle position of the first incremental position information, which is shown as the 2 nd cycle position, and the second position b is obtained through analysis. Next, as shown in step S7, the second position b is corresponding to the cycle position of the second incremental position information, which is shown as the 5 th cycle position, and a third position c is obtained by parsing, where the third position c is a high-resolution absolute position. Wherein, the step S4, the step S5, the step S6 and the step S7 are realized by the signal processing unit 9. In the progressive position analyzing step, the initial absolute position with lower precision corresponds to the increment position with medium precision, the increment position with medium precision corresponds to the increment position with high precision, and the analyzed position information is the high-precision absolute position.
Referring to fig. 1, fig. 2, fig. 3A, fig. 11 and fig. 12, wherein fig. 11 is a flowchart illustrating a position detecting method of an encoder according to another preferred embodiment of the present invention, and fig. 12 is a schematic diagram illustrating position information obtained by the position detecting method of the encoder according to another preferred embodiment of the present invention. As shown in fig. 1, fig. 2, fig. 3A, fig. 11 and fig. 12, a position detecting method of an encoder according to another preferred embodiment of the present invention includes the following steps: first, as shown in step S11, an encoder 1 is provided, wherein the encoder 1 comprises a
Then, in step S14, the absolute position signal, the first incremental position signal and the second incremental position signal are analyzed to obtain preliminary absolute position information, first incremental position information and second incremental position information, respectively. Next, as shown in step S15, the first incremental positional information and the second incremental positional information are analyzed, and third incremental positional information having (N-M) cycles per one rotation of the
Next, as shown in step S16, a first position a is analyzed from the preliminary absolute position information, please refer to fig. 12. Then, as shown in step S17, the first position a is mapped to the cycle position of the third incremental position information, which is shown as the 2 nd cycle position, and the second position b' is obtained through analysis. Next, as shown in step S18, the second position b' is corresponding to the cycle position of the second incremental position information, which is shown as the 5 th cycle position, and a third position c is obtained by parsing, where the third position c is a high-definition absolute position. Wherein, the step S14, the step S15, the step S16, the step S17 and the step S18 are realized by the signal processing unit 9.
Therefore, the approaching of the pattern characteristic sizes of the first
In summary, the present invention provides an encoder and a position detecting method thereof, in which an absolute position signal, a first incremental position signal and a second incremental position signal are obtained by a magnetic sensing element and an optical sensing element respectively, and signal integration and processing are performed by a signal processing unit, so that high-precision absolute position sensing can be achieved and high-precision absolute position information can be obtained. And, through the optical reflection type framework that the luminous element and the light receiving element of the optical sensing component are arranged corresponding to one side of the optical code disc, the magnetic sensing component and the magnet are arranged, and the encoder can be thinned. And the absolute position signal is obtained through the magnetic sensing assembly, so that the encoder has higher environmental pollution resistance bearing capacity, and the optical sensing assembly has an incremental light receiving area and sensing patterns arranged in a phase array mode, so that the stability of the encoder can be improved. Meanwhile, the center of the magnetic sensing assembly can be positioned on the rotating shaft or arranged off-axis, so that the encoder can have larger production and assembly margin and is easier to design and assemble.
Although the invention has been described in detail with reference to the above embodiments, various modifications can be made by those skilled in the art without departing from the scope of the appended claims.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:编码器及其适用的马达