阅读说明：本技术 旋转角度感测装置 (Rotation angle sensing device ) 是由 邓为光 姚柏菘 于 2020-05-14 设计创作，主要内容包括：本发明提供一种旋转角度感测装置,包括一固定部、一转动模块、一感测模块以及一导磁性组件。转动模块包括一转轴,转轴枢接固定部,且转动模块可绕一主轴相对于固定部转动。感测模块用以感测转轴相对于固定部的运动状况,包括一磁力传感器和一磁性组件,其中磁性组件对应磁性传感器,且磁性组件可相对于磁力传感器旋转。导磁性组件则设置于感测模块和转动模块之间。(The invention provides a rotation angle sensing device, which comprises a fixing part, a rotation module, a sensing module and a magnetic conductive assembly. The rotating module comprises a rotating shaft which is pivoted with the fixing part, and the rotating module can rotate around a main shaft relative to the fixing part. The sensing module is used for sensing the motion state of the rotating shaft relative to the fixed part and comprises a magnetic sensor and a magnetic component, wherein the magnetic component corresponds to the magnetic sensor and can rotate relative to the magnetic sensor. The magnetic conductivity assembly is arranged between the sensing module and the rotating module.)

1. A rotation angle sensing device comprising:

a fixed part;

a rotating module, including a rotating shaft, wherein the rotating shaft is pivoted with the fixing part, and the rotating module can rotate around a main shaft relative to the fixing part;

a sensing module, which senses the motion status of the rotating shaft relative to the fixing part, wherein the sensing module comprises:

a magnetic force sensor; and

the magnetic component corresponds to the magnetic sensor and can rotate relative to the magnetic sensor; and

and the magnetic conductivity assembly is arranged between the sensing module and the rotating module.

2. A rotation angle sensing apparatus according to claim 1, wherein the rotation module further comprises a bearing assembly disposed on the fixing portion, and the rotation shaft is pivotally connected to the fixing portion through the bearing assembly.

3. A rotation angle sensing apparatus as claimed in claim 2, wherein the bearing assembly is of a weakly magnetically permeable metal or non-metal material.

4. A rotation angle sensing device as claimed in claim 2, wherein the magnetically permeable assembly is disposed between the bearing assembly and the magnetic sensor.

5. A rotation angle sensing device as claimed in claim 1, wherein the magnetic element is disposed between the magnetic sensor and the magnetically permeable element.

6. A rotation angle sensing device as claimed in claim 1, wherein the rotation module further comprises a magnetic assembly fixing base fixed on the rotation shaft, and the magnetic assembly is disposed on the magnetic assembly fixing base.

7. The rotation angle sensing device according to claim 6, wherein the magnetic element holder and the magnetic element at least partially overlap when viewed in a direction perpendicular to the main axis.

8. The rotation angle sensing device according to claim 7, wherein the magnetically permeable member and the magnetic member holder are integrally formed.

9. An angle of rotation sensing apparatus according to claim 1, wherein the angle of rotation sensing apparatus further comprises a further magnetically permeable element surrounding the magnetic element.

10. A rotation angle sensing apparatus as claimed in claim 1, wherein the magnetic lines of force inside the magnetic assembly are oriented perpendicular to the main axis.

11. A rotation angle sensing apparatus as claimed in claim 1, wherein the magnetic member is a multi-pole magnet, and the direction of the magnetic field lines inside the magnetic member is parallel to the main axis.

12. The rotation angle sensing device according to claim 1, wherein the rotation angle sensing device further comprises:

a circuit assembly including a plurality of connection portions; and

the supporting components correspond to the connecting parts and are connected with the fixing part and the circuit component, wherein the connection among the connecting parts can form a closed graph, and the closed graph is non-rotationally symmetrical relative to the main shaft.

13. A rotation angle sensing apparatus as claimed in claim 12, wherein the circuit assembly comprises a circuit board having a cutting portion and a plurality of test circuits, wherein at least one test circuit is adjacent to the cutting portion.

14. A rotation angle sensing apparatus according to claim 12, wherein the circuit element includes a connection terminal, an electrical connection port of the connection terminal facing the spindle.

15. A rotation angle sensing apparatus according to claim 12, wherein the circuit assembly includes a circuit board and at least one electronic assembly, the magnetic sensor and the electronic assembly are disposed on the circuit board, and the circuit board is disposed between the magnetic sensor and the electronic assembly, wherein the thickness of the electronic assembly is greater than that of the magnetic sensor.

16. A rotation angle sensing apparatus according to claim 12, wherein the circuit assembly includes a circuit board and at least one electronic assembly, the magnetic sensor and the electronic assembly being disposed on the same surface of the circuit board, wherein the thickness of the electronic assembly is greater than that of the magnetic sensor, and the electronic assembly and the magnetic assembly do not overlap when viewed along the main axis.

17. A rotation angle sensing apparatus as claimed in claim 16, wherein the electronic component and the magnetic component at least partially overlap when viewed in a direction perpendicular to the major axis.

18. A rotation angle sensing apparatus as claimed in claim 12, wherein the circuit assembly comprises a circuit board having a plurality of grooves formed on an edge thereof.

19. A rotation angle sensing apparatus according to claim 1, wherein the shaft further comprises a recess, and the magnetic element is at least partially disposed in the recess.

20. The rotation angle sensing device according to claim 19, wherein the shaft is made of a metal or a non-metal material with weak magnetic permeability.

21. The rotation angle sensing device according to claim 19, wherein the shaft is made of metal, and the magnetic conductive element is disposed between the magnetic element and the shaft.

Technical Field

The invention relates to a rotation angle sensing device. More particularly, the present invention relates to a rotation angle sensing apparatus having a magnetic force sensor.

Background

An encoder is an electromechanical device that converts a rotational position or amount of rotation into an analog or digital signal. Rotary encoders are used in many applications where precise rotational position and speed are required, such as industrial controls, robotics, photographic lenses, computer input devices (e.g., mice and trackballs), and the like.

One common encoder uses optical means for measurement, such as light sources and light sensors on both sides of a turntable with holes. However, in the case of the encoder being miniaturized, this approach is not easy to install into the encoder, and the accuracy of the measurement may be reduced accordingly. Therefore, how to solve the above problems becomes an important issue.

Disclosure of Invention

The present invention is directed to a rotation angle sensing device to solve at least one of the above problems.

In order to solve the above-mentioned conventional problems, the present invention provides a rotation angle sensing device, which includes a fixing portion, a rotation module, a sensing module, and a magnetic conductive assembly. The rotating module comprises a rotating shaft which is pivoted with the fixing part, and the rotating module can rotate around a main shaft relative to the fixing part. The sensing module is used for sensing the motion state of the rotating shaft relative to the fixed part and comprises a magnetic sensor and a magnetic component, wherein the magnetic component corresponds to the magnetic sensor and can rotate relative to the magnetic sensor. The magnetic conductivity assembly is arranged between the sensing module and the rotating module.

In some embodiments of the present invention, the rotating module further includes a bearing assembly disposed on the fixing portion, and the rotating shaft is pivotally connected to the fixing portion through the bearing assembly. The bearing assembly may be a metallic or non-metallic material with low magnetic permeability. The magnetic conductive assembly may be disposed between the bearing assembly and the magnetic sensor.

In some embodiments of the present invention, the magnetic element is disposed between the magnetic sensor and the magnetic conductive element. The rotating module further comprises a magnetic component fixing seat which is fixed on the rotating shaft, and the magnetic component is arranged on the magnetic component fixing seat. When viewed along a direction perpendicular to the main axis, the magnetic component fixing seat and the magnetic component are at least partially overlapped. In some embodiments, the magnetic conductive element and the magnetic element holder may be integrally formed.

In some embodiments of the present invention, the rotation angle sensing device further includes another magnetic conductive element surrounding the magnetic element. The direction of magnetic lines inside the magnetic component is vertical to the main shaft. In some embodiments, the magnetic component is a multi-pole magnet, and the direction of the magnetic lines inside the magnetic component is parallel to the main axis.

In some embodiments of the present invention, the rotation angle sensing device further includes a circuit element and a plurality of supporting elements. The circuit assembly comprises a plurality of connecting parts, and the supporting assembly corresponds to the connecting parts. The support member may connect the fixing portion and the circuit member. The connection between the connecting parts can form a closed graph, and the closed graph is not rotationally symmetrical relative to the main shaft.

In some embodiments of the present invention, the circuit assembly includes a circuit board, a connection terminal, and a plurality of electronic components. The circuit board is provided with a cutting part, a plurality of test circuits and a plurality of grooves, wherein at least one test circuit is adjacent to the cutting part. An electric connection port of the connection terminal faces the main shaft, and the groove is formed at the edge of the circuit board. The magnetic sensor and one of the electronic components are arranged on the circuit board, and the circuit board is arranged between the magnetic sensor and the electronic component. The magnetic sensor and the other electronic component are arranged on the same surface of the circuit board, the electronic component and the magnetic component are not overlapped when observed along the main shaft, and the electronic component and the magnetic component are at least partially overlapped when observed along a direction vertical to the main shaft. Wherein, the thickness of the electronic components is larger than that of the magnetic sensor.

In some embodiments of the present invention, the shaft further includes a recess, and the magnetic element is at least partially disposed in the recess. The rotating shaft can be made of weak magnetic conductive metal material or nonmetal material. In some embodiments, the shaft is also made of metal, and the magnetic conductive element is disposed between the magnetic element and the shaft.

Drawings

Fig. 1 is a schematic view of a rotation angle sensing device according to an embodiment of the invention.

Fig. 2 is an exploded view of a rotation angle sensing device according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view of a rotation angle sensing device according to an embodiment of the invention.

Fig. 4 is a schematic view of a magnetic device holder according to an embodiment of the invention.

Fig. 5A is a schematic diagram of a circuit assembly according to an embodiment of the invention.

Fig. 5B is a schematic diagram of a circuit device from another view angle according to an embodiment of the invention.

FIG. 6A is a diagram illustrating the direction of the magnetic fields of the pinned layer and the free layer in the magnetic sensor are opposite to each other according to an embodiment of the present invention.

FIG. 6B is a diagram illustrating the difference between the directions of the magnetic fields of the pinned layer and the free layer in the magnetic sensor according to an embodiment of the invention.

FIG. 6C is a diagram illustrating that the directions of the magnetic fields of the pinned layer and the free layer in the magnetic sensor are the same according to an embodiment of the present invention.

FIG. 7 is a schematic view of a magnetic force sensor and magnetic assembly in an embodiment of the invention.

FIG. 8 is a schematic view of a magnetic force sensor and magnetic assembly in another embodiment of the present invention.

Fig. 9 is a schematic view of a rotation angle sensing device according to another embodiment of the invention.

Fig. 10 is a schematic view of a rotation angle sensing device according to another embodiment of the invention.

FIG. 11 is a schematic diagram of the electrical connections of the circuit assembly, the magnetic force sensor, the external power source, and the external electronic device in some embodiments of the invention.

The reference numbers are as follows:

100 fixed part

110 body

111 perforation

200 rotating module

210 bearing assembly

220 rotating shaft

230 magnetic component fixing seat

231 baseplate

232 side wall

233 glue groove

300 circuit assembly

301 fuse unit

302 processing unit

310 circuit board

311 groove

312 connecting part

313 cutting part

320 electronic assembly

330 electronic assembly

340 test circuit

350 connecting terminal

351 electric connection port

400 support assembly

500 locking assembly

600 sensing module

610 magnetic assembly

620 magnetic force sensor

621 fixed layer

622 insulating layer

623 free layer

700 magnetic conductivity assembly

800 magnetic conductivity assembly

E external electronic device

Direction of magnetic field F

P-rotation angle sensing device

R main shaft

W external power supply

Detailed Description

The following describes the rotation angle sensing device according to the embodiment of the present invention. It should be appreciated, however, that the present embodiments provide many suitable inventive concepts that can be embodied in a wide variety of specific contexts. The specific embodiments disclosed are merely illustrative of specific ways to make and use the invention, and do not delimit the scope of the invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Fig. 1 is a schematic view of a rotation angle sensing device P according to an embodiment of the present invention, and fig. 2 and 3 respectively show an exploded view and a cross-sectional view of the rotation angle sensing device P. Referring to fig. 1 to 3, the rotation angle sensing device P mainly includes a fixing portion 100, a rotation module 200, a circuit assembly 300, a plurality of supporting assemblies 400, a plurality of locking assemblies 500, a sensing module 600, and a magnetic conductive assembly 700.

The fixing portion 100 includes a cylindrical body 110, and the rotating module 200 includes at least one bearing assembly 210, a rotating shaft 220 and a magnetic assembly holder 230. A through hole 111 is formed at the center of the body 110 of the fixing portion 100, and the bearing assembly 210 of the rotating module 200 can be received in the through hole 111 and fixed on the body 110. The shaft 220 can pass through a hole in the middle of the bearing assembly 210 to be pivotally connected to the body 110 of the fixing portion 100 through the bearing assembly 210.

In the embodiment, the rotating module 200 includes two bearing assemblies 210, which are separately disposed in the through hole 111 of the body 110, so as to ensure that the rotating shaft 220 extends along a main axis R, thereby preventing the occurrence of a deflection.

When the shaft 220 passes through the bearing assembly 210 and is pivotally connected to the body 110, two ends thereof protrude from opposite surfaces of the body 110, respectively. The magnetic element holder 230 may be fixed to one end of the shaft 220, and the other end of the shaft 220 may be connected to a motor (not shown). In this way, when the motor drives the rotating shaft 220 to rotate around the main shaft R relative to the fixing portion 100, the magnetic component fixing base 230 is also driven to rotate relative to the fixing portion 100.

As shown in fig. 4, the magnetic element holder 230 has a bowl-shaped structure having a bottom plate 231 and a sidewall 232, wherein the sidewall 232 surrounds the bottom plate 231 and extends in a direction away from the body 110, so as to form an accommodating space. In the present embodiment, the bottom plate 231 has a circular cross section, and the rotating shaft 220 is connected to the center of the bottom plate 231 of the magnetic element holder 230, so that when the magnetic element holder 230 is driven, it will rotate around the main axis R. In addition, a glue groove 233 may be further formed on the bottom plate 231.

As shown in fig. 5A and 5B, the circuit assembly 300 may include a circuit board 310, a plurality of electronic components 320 and 330, at least one test circuit 340, and at least one connection terminal 350. The circuit board 310 has a plurality of grooves 311 formed on its edge for engaging with a jig during assembly, transfer, and testing. When a user wants to couple the circuit board 310 to the body 110 of the fixing portion 100, the supporting element 400 is coupled to the circuit board 310 corresponding to the connecting portion 312 by using the supporting element 400, and finally the locking element 500 (e.g., a screw, a rivet, or a bolt) is coupled to the supporting element 400 through the connecting portion 312 (as shown in fig. 3). Thereby, the circuit board 310 may be stably fixed to the body 110.

It should be noted that the connection between the connection portions 312 may form a closed pattern, and the closed pattern is non-rotationally symmetric with respect to the main axis R (i.e., the closed pattern cannot be overlapped with the original pattern when rotated to any angle less than 360 degrees around the main axis R) to confirm that the circuit board 310 is in the proper connection orientation. For example, in the present embodiment, the connection between the connection portions 312 may form an isosceles triangle. In addition, the edge of the circuit board 310 has at least one cutting portion 313, which facilitates the user to confirm the orientation of the circuit board 310 during assembly.

The electronic components 320 and 330, the test circuit 340 and the connection terminal 350 may be disposed on the circuit board 310 and electrically connected to each other. The electronic components 320, 330 may include, for example, resistors, capacitors, inductors, and/or transformers. The testing circuit 340 can be electrically connected to an external probe during testing, and therefore can be disposed adjacent to the edge of the circuit board 310, in the embodiment, the testing circuit 340 is adjacent to the cutting portion 313. The connection terminal 350 may be electrically connected to an external electronic device (e.g., a computer) through an external wire, so as to transmit information detected by the sensing module 600 to the external electronic device. It should be noted that the electrical connection port 351 of the connection terminal 350 can face the main shaft R to prevent the aforementioned external wires from being damaged due to bending when the rotation angle sensing device P is packaged by the housing.

Referring back to fig. 1 to 3, the sensing module 600 may include a magnetic element 610 and a magnetic sensor 620, wherein the magnetic element 610 is disposed in the accommodating space of the magnetic element holder 230, and the magnetic sensor 620 is disposed on the circuit board 310. The magnetic element 610 can be fixed on the magnetic element holder 230 by adhesion, for example, it should be noted that since the bottom plate 231 is formed with the glue groove 233, even if the user uses too much glue, the glue can be filled in the glue groove 233 to keep the magnetic element 610 horizontal.

When viewed along the direction perpendicular to the main axis R, the magnetic assembly 610 overlaps the sidewall 232 of the magnetic assembly holder 230, and the position of the magnetic sensor 620 corresponds to the position of the magnetic assembly 610, so as to detect the rotation angle of the magnetic assembly 610.

For example, as shown in fig. 6A to 6C, the magnetic Sensor 620 may be a Tunneling Magnetoresistive (TMR) Sensor, including a pinned layer 621, an insulating layer 622, and a free layer 623, wherein the insulating layer 622 is disposed between the pinned layer 621 and the free layer 623.

The fixed layer 621 may be magnetized to generate a fixed magnetic field direction, and the magnetic field direction of the free layer 623 may change according to the magnetic field direction of the external environment. When the magnetic field direction of the external environment is opposite to that of the fixed layer 621 (fig. 6A), the magnetic sensor 620 has the maximum resistance. When the magnetic field direction of the external environment is different from that of the fixed layer 621 (fig. 6B, the magnetic force direction is perpendicular to the paper surface), the resistance of the magnetic sensor 620 decreases. When the magnetic field direction of the external environment is the same as that of the fixed layer 621 (fig. 6C), the magnetic sensor 620 has the minimum resistance.

As shown in fig. 7, in the present embodiment, the magnetic pole direction of the magnetic element 610 is perpendicular to the main axis R (i.e. the direction of the magnetic field lines inside the magnetic element is perpendicular to the main axis R). The free layer 623 of the magnetic sensor 620 is influenced by the magnetic force of the magnetic element 610 to generate a magnetic field direction F. Therefore, when the motor drives the rotating shaft 220, the magnetic element holder 230, and the magnetic element 610 to rotate around the main axis R, the magnetic field direction F of the free layer 623 changes (specifically, rotates relative to the main axis R), so that the magnetic sensor 620 can obtain the rotation angle of the rotating shaft 220, the magnetic element holder 230, or the magnetic element 610.

Referring to fig. 8, in another embodiment of the present invention, the magnetic element 610 may also be a multi-pole magnet, and the direction of the magnetic field lines inside the multi-pole magnet is parallel to the main axis R. This configuration allows the region with stronger magnetic force to be concentrated on the magnetic sensor 620, and at the same time, the overall magnetic force lines are concentrated and do not diverge, thereby reducing electromagnetic interference.

In some embodiments, magnetometric Sensor 620 may also be a magnetoresistive Effect Sensor (MR Sensor) or a Giant magnetoresistive Effect Sensor (GMR Sensor).

It should be noted that in the miniaturized rotation angle sensing device P, the magnetic assembly 610 may be very close to the bearing assembly 210 (as shown in fig. 3). In the case where the bearing assembly 210 includes metal, the bearing assembly 210 may be magnetized, thereby causing a problem in that the magnetic sensor 620 measures inaccurately.

Therefore, as shown in fig. 1-3, in the present embodiment, the magnetic conductive element 700 may be disposed between the bearing assembly 210 and the magnetic element 610, so as to prevent the bearing assembly 210 from being magnetized. Since the magnetic conductive member 700 rotates simultaneously with the magnetic member 610, even if the magnetic conductive member 700 is magnetized, the magnetic sensor 620 will not measure the magnetic force accurately.

In some embodiments, the bearing assembly 210 may be a metallic material with low magnetic permeability or a non-metallic material (e.g., ceramic) to further prevent the bearing assembly 210 from being magnetized.

In addition, referring to fig. 3, since the thickness of the electronic components 320 and 330 in the direction of the main axis R is greater than the thickness of the magnetic sensor 620, in the miniaturized rotation angle sensing device P, in order to avoid the magnetic component holder 230 and the magnetic component 610 from colliding with the electronic components 320 and 330 during rotation, the electronic components 320 and 330 may be disposed on the edge of the circuit board 310 or on the other side of the circuit board 310.

In the present embodiment, the electronic component 320 and the magnetic sensor 620 are disposed on the same surface of the circuit board 310, and are adjacent to the edge of the circuit board 310. The electronic component 320 and the magnetic force sensor 620 do not overlap when viewed along the direction of the main axis R, and the electronic component 320 and the magnetic force sensor 620 partially overlap when viewed along the direction perpendicular to the main axis R. The electronic component 330 and the magnetic sensor 620 are disposed on opposite sides of the circuit board 310 (i.e., the circuit board 310 is located between the electronic component 330 and the magnetic sensor 620), and the thickness of the electronic component 330 is greater than that of the electronic component 320.

Referring to fig. 9, in another embodiment of the present invention, the rotation angle sensing device P may further include another annular magnetic conductive element 800 surrounding the magnetic element 610. This further prevents the magnetic force on the side of the magnetic element 610 from degrading the measurement accuracy of the magnetic sensor 620.

In some embodiments, the magnetic device holder 230 and the magnetic conductive devices 700 and 800 may be integrally formed, i.e., the magnetic device holder 230 may be made of a magnetic conductive material.

Referring to fig. 10, in another embodiment of the present invention, the rotating shaft 220 has a larger size and may have a recess 221, the magnetic element fixing base 230 may be omitted, the magnetic element 610 and the magnetic conductive elements 700 and 800 may be directly disposed in the recess 221 of the rotating shaft 220, and the magnetic conductive elements 700 and 800 may be located between the magnetic element 610 and the rotating shaft 220. In this embodiment, the shaft 220 may be made of metal, so that the motor can drive the shaft 220 to rotate.

In some embodiments, the shaft 220 may also be a metal material with weak magnetic permeability or a non-metal material (e.g., ceramic).

Fig. 11 is a schematic circuit connection diagram of the circuit assembly 300, the magnetic sensor 620 and the external components in the foregoing embodiments. As shown, the external power source W may be electrically connected to the circuit assembly 300 through the connection terminal 350 to supply power to the circuit assembly 300. The fuse unit 301 may be located between the processing unit 302 and the external power source W, and when an abnormal current flows through the fuse unit 301, the fuse unit 301 may interrupt the electrical connection with the external power source W to protect the circuit assembly 300.

The data detected by the magnetic sensor 620 can be transmitted to the processing unit 302, and the processing unit 302 converts the data into a desired code (e.g., waveform), and finally transmits the code to the external electronic device E through the connection terminal 350.

In summary, the present invention provides a rotation angle sensing device, which includes a fixing portion, a rotation module, a sensing module and a magnetic conductive assembly. The rotating module comprises a rotating shaft which is pivoted with the fixing part, and the rotating module can rotate around a main shaft relative to the fixing part. The sensing module is used for sensing the motion state of the rotating shaft relative to the fixed part and comprises a magnetic sensor and a magnetic component, wherein the magnetic component corresponds to the magnetic sensor and can rotate relative to the magnetic sensor. The magnetic conductivity assembly is arranged between the sensing module and the rotating module.

Although embodiments of the present invention and their advantages have been disclosed, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification, but it is to be understood that any process, machine, manufacture, composition of matter, means, method and steps, presently existing or later to be developed, that will become apparent to those skilled in the art from this disclosure, may be utilized according to the present invention, and that all the same functions or advantages of the disclosed embodiments may be accomplished by the present invention. Accordingly, the scope of the present application includes the processes, machines, manufacture, compositions of matter, means, methods, and steps described in the specification. In addition, each claim constitutes a separate embodiment, and the scope of protection of the present invention also includes combinations of the respective claims and embodiments.

While the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims. Furthermore, each claim constitutes a separate embodiment, and combinations of various claims and embodiments are within the scope of the invention.