阅读说明：本技术 编码盘、编码器、电机及编码器工作方法 (Coding disc, encoder, motor and encoder working method ) 是由 周溪 彭玉礼 陈鑫 张建林 李和荣 胡森 于 2021-08-11 设计创作，主要内容包括：本申请涉及一种编码盘、编码器、电机及编码器工作方法,编码盘包括像素带,像素带被划分为同心布置的多个码道,以及设置在每个码道上的由像素点组成的字符编码,字符编码中不同的英文字符和英文字符之间的排列组合表示电机轴不同的位置信息。本申请可以使得编码器获得更高精度和更高分辨率,使用此编码器的电机速度波动更小,电机运行更加平稳,可以提高编码器和电机的产品性能,提高市场竞争力。(The coding disc comprises a pixel band, the pixel band is divided into a plurality of code channels which are concentrically arranged, and character codes which are arranged on each code channel and are composed of pixel points are arranged, and different English characters in the character codes and different position information of a motor shaft are represented by arrangement and combination among the English characters. This application can make the encoder obtain higher accuracy and higher resolution ratio, and the motor speed fluctuation that uses this encoder is littleer, and the motor operation is more steady, can improve the product property ability of encoder and motor, improves market competition.)

1. A code wheel, comprising:

a pixel strip divided into a plurality of code channels arranged concentrically;

and character codes which are arranged on each code channel and are composed of pixel points, wherein different English characters in the character codes and arrangement and combination among the English characters represent different position information of the motor shaft.

2. The encoded disc of claim 1, wherein the plurality of code channels comprises:

the first code channel comprises a first character code consisting of pixel points, and the first character code is used for representing at least one of zero point of an encoder, multi-turn counting, anticlockwise rotation of a motor shaft and clockwise rotation of the motor shaft when being read and identified.

3. The code disc of claim 2, wherein the first character code is a CAAB code that, when read identified:

the code value in the identification window indicates the zero point of the encoder when AA is the code value in the identification window, counterclockwise rotation of the motor shaft when AB is the code value in the identification window, and clockwise rotation of the motor shaft when CA is the code value in the identification window.

4. The encoded disc of claim 1, wherein the plurality of code channels comprises:

and the second code channel comprises a second character code consisting of pixel points, and the second character code is used for judging the position of the current encoder.

5. The code wheel of claim 4, wherein the second character codes are circularly arranged ABCD codes, and when read and recognized, the circularly arranged ABCD codes:

the current encoder position is determined by the number of times the second track current code value is read and the ABCD code value is read.

6. A codewheel according to claim 4 or 5, characterized in that said plurality of code channels comprises:

the third code channel is arranged on the outer layer of the second code channel and is adjacent to the second code channel;

the third code channel comprises a third character code consisting of pixel points, and the third character code is used for equally dividing the second character code so as to subdivide the current encoder position judged by the second character code.

7. The code wheel of claim 6, wherein the third characters are encoded as the same English character.

8. An encoder, comprising:

the code wheel according to any one of claims 1 to 7;

the image recognition unit is arranged at the adjacent position of the code disc and is used for acquiring the character code of each code channel in the recognition window;

and the main control chip is connected with the image recognition unit and is used for determining the current position information and/or the rotating speed information of the motor shaft according to the character codes of each code channel.

9. The encoder of claim 8, further comprising:

and the wheel hub is respectively connected with the coding disc and the motor shaft.

10. The encoder of claim 8, further comprising:

and the support is used for supporting and fixing the main control chip.

11. An electric machine, comprising:

an encoder according to any one of claims 8 to 10.

12. A method of operating an encoder, comprising:

acquiring character codes of each code channel in a code disc;

and determining the current motor shaft position and speed information according to the character codes of each code channel.

13. The method of operation of an encoder according to claim 12, further comprising:

and calculating the resolution of the encoder according to the character codes of each code channel.

Technical Field

The application belongs to the technical field of encoders, and particularly relates to an encoding disc, an encoder, a motor and an encoder working method.

Background

The encoder is widely applied to industrial control as an angle measurement sensor, and the mainstream encoders in the market at the present stage can be divided into photoelectric encoders and magnetoelectric encoders. The resistant greasy dirt of magnetoelectric encoder, nevertheless the resolution ratio is low and easily receive external electromagnetic field interference good to the antidetonation, and photoelectric encoder has advantages such as resolution ratio height, consequently, photoelectric encoder is by the wide application in the industrial control that the resolution ratio height required, traditional photoelectric encoder is inside including the code wheel that punches, need increase the sign indicating number (be equivalent to increase the quantity of punching) in order to improve resolution ratio, because the design accuracy who can not do the ideal in the size actual processing technology in every hole of code wheel that punches, rely on the sacrifice precision to improve resolution ratio, consequently can influence whole encoder precision.

Disclosure of Invention

For overcoming the problem that the resolution ratio is improved by sacrificing the precision and the precision of the whole encoder cannot be influenced in the actual processing process of the size of each hole of the punched code disc in the traditional photoelectric encoder at least to a certain extent, the application provides an encoding disc, an encoder, a motor and an encoder working method.

In a first aspect, the present application provides a code wheel, comprising:

a pixel strip divided into a plurality of code channels arranged concentrically;

and character codes which are arranged on each code channel and are composed of pixel points, wherein different English characters in the character codes and arrangement and combination among the English characters represent different position information of the motor shaft.

Further, the plurality of code channels include:

the first code channel comprises a first character code consisting of pixel points, and the first character code is used for representing at least one of zero point of an encoder, multi-turn counting, anticlockwise rotation of a motor shaft and clockwise rotation of the motor shaft when being read and identified.

Further, the first character encoding is CAAB encoding, and when read and recognized, the CAAB encoding:

the encoder zero point is indicated when the code value in the identification window is identified as AA, the motor shaft is rotated counterclockwise when the code value in the identification window is identified as AB, and the motor shaft is rotated clockwise when the code value in the identification window is identified as CA.

Further, the plurality of code channels include:

and the second code channel comprises a second character code consisting of pixel points, and the second character code is used for judging the position of the current encoder.

Further, the second character codes are circularly arranged ABCD codes, and when being read and identified, the circularly arranged ABCD codes are:

the current encoder position is determined by the number of times the second track current code value is read and the ABCD code value is read.

Further, the plurality of code channels include:

the third code channel is arranged on the outer layer of the second code channel and is adjacent to the second code channel; the third code channel comprises a third character code consisting of pixel points, and the third character code is used for equally dividing the second character code so as to subdivide the current encoder position judged by the second character code.

Further, the third character is coded as the same English character.

In a second aspect, the present application provides an encoder comprising:

the code wheel of the first aspect;

the image recognition unit is arranged at the adjacent position of the code disc and is used for acquiring the character code of each code channel in the recognition window;

and the main control chip is connected with the image recognition unit and is used for determining the current position information and/or the rotating speed information of the motor shaft according to the character codes of each code channel.

Further, the method also comprises the following steps:

and the wheel hub is respectively connected with the coding disc and the motor shaft.

Further, the method also comprises the following steps:

and the support is used for supporting and fixing the main control chip.

In a third aspect, the present application provides an electric machine comprising:

an encoder as claimed in the second aspect.

In a fourth aspect, the present application provides a method for operating an encoder, including:

acquiring character codes of each code channel in a code disc;

and determining the current motor shaft position and speed information according to the character codes of each code channel.

Further, the method also comprises the following steps:

and calculating the resolution of the encoder according to the character codes of each code channel.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

the coding disc comprises a pixel band, the pixel band is divided into a plurality of code channels which are concentrically arranged, and character codes which are arranged on each code channel and are composed of pixel points are arranged, and different English characters and English characters in the character codes are arranged and combined to represent different position information of a motor shaft, so that the coder can obtain higher precision and higher resolution, the motor speed fluctuation of the coder is smaller, the motor runs more stably, the product performances of the coder and the motor can be improved, and the market competitiveness is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a functional block diagram of a code wheel according to an embodiment of the present application.

Fig. 2 is a cross-sectional view of an encoder according to an embodiment of the present application.

Fig. 3 is a flowchart of a method for operating an encoder according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a functional structure diagram of a code wheel according to an embodiment of the present application, and as shown in fig. 1, the code wheel includes:

a pixel band divided into a plurality of code channels arranged concentrically;

and character codes which are arranged on each code channel and are composed of pixel points, wherein different English characters in the character codes and arrangement combinations among the English characters represent different position information of the motor shaft.

As shown in fig. 1, the plurality of code channels includes:

a first track 11, the first track including a first character code composed of pixel points, the first character code being used to represent at least one of an encoder zero point, a multi-turn count, a counterclockwise rotation of a motor shaft, and a clockwise rotation of the motor shaft when read and recognized.

The first character code is, for example, a CAAB code which, when read identified:

the encoder zero point is indicated when the code value in the identification window is identified as AA, the motor shaft is rotated counterclockwise when the code value in the identification window is identified as AB, and the motor shaft is rotated clockwise when the code value in the identification window is identified as CA.

And a second code channel 12, where the second code channel includes a second character code composed of pixel points, and the second character code is used to determine the current encoder position.

Further, the second character codes are circularly arranged ABCD codes, and when being read and identified, the circularly arranged ABCD codes are as follows:

the current encoder position is determined by the number of times the second track current code value is read and the ABCD code value is read.

A third code channel 13, which is arranged on the outer layer of the second code channel 12 and is adjacent to the second code channel 12; the third code channel comprises a third character code consisting of pixel points, and the third character code is used for equally dividing the second character code so as to subdivide the current encoder position judged by the second character code.

The third character is encoded as the same English character.

The traditional photoelectric encoder comprises a punching code disc, the code number needs to be increased (equivalent to the increase of the punching number) in order to improve the resolution, and because the ideal design precision cannot be achieved in the actual machining process of the size of each hole of the punching code disc, the resolution is improved by means of sacrificing the precision, and therefore the precision of the whole encoder is influenced. Because the encoder precision is low, the motor using the encoder to measure can have speed fluctuation, and the motor works unstably.

In this embodiment, the coding disc includes the pixel area, the pixel area is divided into a plurality of code channels of concentric arrangement, and set up the character coding of constituteing by the pixel on every code channel, the permutation and combination between the different english character in the character coding and the english character shows the different position information of motor shaft, can make the encoder obtain higher accuracy and higher resolution, the motor speed fluctuation that uses this encoder is littleer, the motor operation is more steady, can improve the product property ability of encoder and motor, improve market competition.

An embodiment of the present invention provides an encoder, as shown in a structural cross-sectional view in fig. 2, including:

the code wheel 3 as described in the above embodiments;

the image recognition unit 2 is arranged at the adjacent position of the code disc, and the image recognition unit 2 is used for acquiring the character code of each code channel in the code disc 3;

and the master control chip is connected with the image recognition unit 2, for example, the PCBA board 1, and the PCBA board 1 is used for determining the current motor shaft position information and/or the motor shaft rotating speed information according to the character codes of each code channel.

Some embodiments further comprise:

the hub 4 and the hub 4 are respectively connected with the coding disc 3 and the motor shaft.

And the bracket 5 is used for supporting the PCBA board 1.

When the motor works, the coding disc in the coder and the motor shaft keep the same motion state, and the image recognition unit 2 reads the character codes of the coding disc pixels with three code channels according to the unique characteristics of different English characters. When the motor works for the first time, the motor needs to be zeroed, namely, the first code channel code number CAAB of the coding disc is aligned with the first code channel identification area of the image identification unit. When the motor rotates anticlockwise to the next code value, the first code channel code value read by the image identification unit 2 is AB, when the motor rotates anticlockwise to the next code value, the first code channel code value read by the image identification unit 2 is CA, the rotation direction of the motor shaft is judged in this way, and the multi-turn value of the encoder is recorded through the read AA times; when the motor shaft rotates clockwise, the second code track code values read by the image identification unit 2 are ABCD, BCDA, CDBC, DABC and ABCD … in sequence, the second code track is composed of 8 groups of ABCD code values, the encoder PCBA board judges the current encoder position by reading the current code value of the second code track and the times of reading the ABCD code values, and the second code track is composed of eight groups of four different code values, namely, the resolution of the second code track is 2^3 ^ 2^ 5. Similarly, when the motor shaft rotates counterclockwise, the third code values read by the image recognition unit 2 are all AAAA, and the second code values ABCD, BCDA, CDBC, DABC, and ABCD … read by the image recognition unit 2 at the same time are equally divided into four parts, which is equivalent to increasing the encoder position resolution by 2 bits. The image recognition unit 2 decodes three coarse codes at specific positions on the pixel strip and communicates with the PCBA board 1 through a serial port, and the PCBA board 1 performs fine-dividing and equal processing on the input data through the analog-to-digital conversion module and other modules to obtain information such as the resolution of a final encoder and the position and the speed of the current motor shaft. The final resolution of the code disc is 2^3 ^ 2^ 7.

It should be noted that the number of code channels and the code channel value of the actual code disc can be changed, and any other designs, substitutions and improvements are included in the protection scope of the present application.

In this embodiment, take the code wheel to replace the code wheel that punches through the pixel, it is higher to accomplish encoder resolution ratio, and the precision is better, and shock-resistant impact performance improves, and the motor speed fluctuation that uses this encoder is very little, and the motor operation is more steady, can improve the product property ability of encoder and motor, improves market competition.

An embodiment of the present invention provides a motor, including: an encoder as described in the above embodiments.

An embodiment of the present invention provides a working method of an encoder, as shown in a flowchart in fig. 3, the working method of the encoder includes:

s31: acquiring character codes of each code channel in a code disc;

s32: at least one of resolution of the encoder, current motor shaft position and speed information is determined based on the character encoding of each code track.

In the embodiment, by acquiring the character codes of each code channel in the code disc and determining at least one of the resolution of the encoder, the current motor shaft position and the speed information according to the character codes of each code channel, the encoder can obtain higher precision and higher resolution, the motor speed fluctuation using the encoder is smaller, the motor runs more stably, the product performances of the encoder and the motor can be improved, and the market competitiveness is improved.

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, in the description of the present application, the terms "first", "second", etc. 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 application, 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 the scope of the preferred embodiments of the present application includes other implementations 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 application.

It should be understood that portions of the present application 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 application 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, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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 application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

It should be noted that the present invention is not limited to the above-mentioned preferred embodiments, and those skilled in the art can obtain other products in various forms without departing from the spirit of the present invention, but any changes in shape or structure can be made within the scope of the present invention with the same or similar technical solutions as those of the present invention.