CN103946675A - Encoder and servomotor - Google Patents

Abstract

The present invention provides an encoder capable of maintaining reliability and sufficiently miniaturized, and a servo motor having the encoder. The encoder has a disk (111) fixed to the shaft (SH) through a hub (HB) and formed with a plurality of slits; three base plates (112A) arranged on one side of the disk (111) to 112C); a wiring part (118) connected to the substrate (112C) at one end; a conductive a permanent cover (120); and an insulating material (131) provided inside the cover (120) and at least provided between the wiring part (118) and the cover (120).

Description

Encoder and Servo Motor

technical field

Embodiments of the present invention relate to an encoder and a servo motor having the encoder.

Background technique

Conventionally, an optical encoder described in, for example, Patent Document 1 is known. The encoder has an encoder body and a cover covering the encoder body. Wherein, the encoder main body includes a light-emitting element, a light-receiving element, and a substrate mounted with electronic components arranged on both sides of the disk.

prior art literature

patent documents

Patent Document 1: Japanese Patent No. 4400185

Contents of the invention

Problem to be solved by the present invention

Along with the downsizing of servo motors in recent years, encoders are required to be downsized accordingly. In order to reduce the size of the encoder, it is necessary to reduce the gap between the encoder body and the cover. On the other hand, since the cover covering the encoder body is formed of a conductive material for electromagnetic shielding, it is necessary to secure an insulating distance between the encoder body and the cover. Therefore, there is a problem that the miniaturization of the encoder is restricted.

In view of this, the present invention was made in view of the above-mentioned problems, and an object of the present invention is to provide an encoder that can maintain reliability and can be sufficiently miniaturized, and a servo motor including the encoder.

method used to solve the problem

In order to solve the above problems, a technical solution of the present invention is to provide such an encoder, which has: a disc, which is fixed on the rotating body, and is formed with a plurality of slits and is in the shape of a disc; a base plate, whose It is arranged on one side of the disk, and has at least one; a wiring part, at least one end of which is connected to the substrate; and an insulating material provided inside the cover and provided at least between the wiring member and the cover.

In addition, in order to solve the above-mentioned problems, another technical solution of the present invention is to apply such a servo motor, which has a motor and an encoder. Wherein, the motor rotates the shaft; the encoder detects the position of the shaft. The encoder has: a disk, which is directly or indirectly fixed on the shaft, and is formed with a plurality of slits and is in the shape of a disk; a substrate, which is arranged on one side of the disk, and has at least A wiring part, at least one end of which is connected to the substrate; a cover for covering the encoder main body with the disc, the substrate and the wiring part, and has conductivity; and an insulating material, at least It is provided between the wiring member and the cover.

Invention effect

According to the present invention as described above, it is possible to sufficiently reduce the size of the encoder while maintaining the reliability of the encoder.

Description of drawings

FIG. 1 is an explanatory diagram illustrating a schematic configuration of a servo motor including an encoder according to the present embodiment and a servo system including the servo motor.

FIG. 2 is an explanatory diagram illustrating a schematic configuration of an encoder according to the present embodiment.

3 is an explanatory view for explaining a schematic configuration of an encoder according to a modified example in which an insulating material is provided around a substrate.

FIG. 4 is an explanatory view for explaining a schematic configuration of an encoder according to a modified example in which an insulating material is provided on the entire inner peripheral surface of the cover.

FIG. 5 is an explanatory diagram illustrating a schematic configuration of an encoder according to a modified example using a non-flexible wiring member.

Detailed ways

Hereinafter, this embodiment will be described with reference to the drawings.

<1. Servo motor and servo system>

First, with reference to FIG. 1 , a schematic configuration of a servo motor including an encoder according to the present embodiment and a servo system including the servo motor will be described. As shown in FIG. 1 , the servo system S according to the present embodiment includes a servo motor SM and a control device CT. The servo motor SM has an encoder 100 and a motor M. The motor M is an example of a power generation source that does not include the encoder 100 . Although this motor M itself is sometimes referred to as a servo motor, in this embodiment, the configuration including the encoder 100 is referred to as a servo motor SM. The motor M has a shaft SH, and by rotating the shaft SH around the rotation axis AX, a rotational force is output.

In addition, the motor M is not particularly limited as long as it is controlled based on data detected by the encoder 100 such as position data. In addition, the motor M is not limited to an electric motor using electric power as a power source, and for example, a motor using another power source such as a hydraulic motor, an air motor, or a steam motor may be used. However, for convenience of description, the motor M described below is an electric motor.

The encoder 100 is connected to the end of the shaft SH of the motor M opposite to the output end of the rotational force. Further, the encoder 100 detects the position (also referred to as rotation angle) of the motor M (an example of a measurement object) by detecting the position (angle) of the shaft SH, and outputs position data indicating the position. In addition, in addition to detecting the position of the motor M or as an alternative method, the encoder 100 can also measure the speed of the motor M (also referred to as rotational speed, angular velocity, etc.) and the acceleration a of the motor M (also referred to as rotational acceleration and angular acceleration). etc.) at least one party to detect. At this time, the speed and acceleration of the motor M can be detected by, for example, performing first-order or second-order differentiation of the position with time, or performing processing such as counting a detection signal for a predetermined time.

In addition, the arrangement position of the encoder 100 is not limited to the position illustrated in this embodiment. For example, the encoder 100 may be arranged to be directly connected to the output end side of the shaft SH, or may be connected to the shaft SH through other mechanisms such as a speed reducer, a rotation direction converter, and a brake.

The control device CT acquires the position data output from the encoder 100, and controls the rotation of the motor M based on the position data. Therefore, in this embodiment using an electric motor as the motor M, the control device CT controls the rotation of the motor M by controlling the current or voltage applied to the motor M based on the position data. Furthermore, the control device CT may acquire a high-level control signal from a high-level control device (not shown) to control the motor M so that the shaft SH of the motor M outputs a rotational force capable of realizing a position indicated by the high-level control signal. In addition, when the motor M used is another power source such as a hydraulic type, a pneumatic type, or a steam type, the control device CT controls the rotation of the motor M by controlling the supply of these power sources.

<2. Encoder>

Next, the configuration of the encoder according to this embodiment will be described with reference to FIG. 2 . As shown in FIG. 2 , the encoder 100 has an encoder body 110 and a cover 120 covering the encoder body 110 . The cover 120 is formed of a conductive material in order to electromagnetically shield the encoder body 110 . The cover 120 has a bottomed cylindrical shape, and is opened on the motor M side of the bracket 10 and closed on the opposite side of the motor M. As shown in FIG.

The encoder main body 110 has a disk 111 and three (an example of at least one) substrates 112A to 112C. Among them, the disk 111 has a plurality of slits not shown in the shape of a disk, and is fixed to a hub HB (an example of a rotating body) provided at the end of the shaft SH opposite to the output end. The three substrates 112A to 112C are arranged on the side (an example of one side) of the disk 111 opposite to the motor M. These substrates 112A to 112C are stacked and fixed in the direction of the rotation axis AX by connecting members 113 , and the integrated substrates 112A to 112C are supported by the bracket 10 of the motor M by a support member not shown. A communication element 114 having a function of communicating with the control device CT is mounted on a substrate 112C disposed on the opposite side to the motor M among the substrates 112 . The communication element 114 is connected to the control device CT through a wire 115 provided through the cover 120 . In addition, a plurality of electronic components other than the communication element 114 are also mounted on the respective substrates 112A to 112C, but are not shown in FIG. 2 and the like.

In addition, in this embodiment, the case where three substrates 112 are laminated is described as an example, however, one substrate that is not laminated may be used, and the number of laminated substrates may be other than three. The encoder 100 can be downsized in the axial direction by reducing the number of stacks, and the encoder 100 can be downsized in the radial direction by increasing the number of stacks.

In addition, the encoder main body 110 has a light emitting element 116 , a light receiving element 117 , and a wiring member 118 . Among them, the light emitting element 116 emits light to the slit of the disk 111 , and the light receiving element 117 receives the light emitted from the light emitting element 116 which passes through the slit and is acted upon by it. The light-emitting element 116 and the light-receiving element 117 are arranged on both sides of the disk 111, and the structure of the encoder 100 is a so-called transmissive encoder.

The light emitting element 116 is composed of, for example, an LED (Light Emitting Diode) and an optical lens, and the light emitted from the LED passes through the optical lens to form, for example, parallel light and then emits to the disk 111. In addition, the light emitting element 116 is not particularly limited as long as it is a light source capable of irradiating light to the slit of the disk 111 . The light emitting element 116 is supported on the substrate 112 or on the bracket 10 of the motor M via a support member not shown.

The light receiving element 117 is provided on a substrate 112A disposed facing the disk 111 among the substrates 112 . As the light receiving element 117, for example, a photodiode can be used. However, the light receiving element is not limited to a photodiode, and is not particularly limited as long as it can receive light emitted from the light emitting element 116 and convert it into an electric signal.

The wiring member 118 is used to supply power to the light emitting element 116 , and one end thereof is connected to the substrate 112C and the other end thereof is connected to the light emitting element 116 . The wiring member 118 has flexibility and can be flexibly bent. As the wiring member 118 , for example, a flexible substrate, a cable, a wire, etc. can be used, but not limited thereto, as long as the substrate 112 and the light emitting element 116 can be connected and power can be supplied to the light emitting element 116 . In addition, both ends of the wiring member 118 may be directly connected to the substrate 112C and the light emitting element 116 using solder or the like, or may be connected through a connector or the like. When connecting with a connector or the like, the wiring member 118 also includes a connector.

On the inner surface of the cover 120 , the insulating material 131 is provided only at a position where the wiring member 118 is close to the cover 120 . Specifically, the insulating material 131 is provided over the entire range where the wiring member 118 is wound between the substrate 112C and the light emitting element 116 substantially in the direction of the rotation axis AX. As the insulating material 131 , for example, an insulating sheet, insulating tape, or insulating paint can be used. In addition, in the illustration of FIG. 2 , the insulating material 131 is provided on the inner surface of the cover 120 , but it may be provided on the wiring member 118 side, for example, an insulating tape or the like is wound around the wiring member 118 . That is, it is only necessary that the insulating material is located at least between the wiring member 118 and the cover 120 . In addition, the installation range of the insulating material 131 is not limited to the example shown in FIG. 2 , and it may be limited to the part where the wiring member 118 is closest to the cover 120 (the central part of the range where the wiring member 118 is approximately wound along the rotation axis AX direction). ), it may also be extended along the rotation axis AX direction so that it includes the surrounding part of the connection part of the substrate 112C and the light emitting element 116 .

In addition, in the present embodiment, the disc 111 is indirectly fixed to the shaft SH through the hub HB, however, it may be directly fixed to the shaft SH, for example, may be fixed to an encoder connected to the shaft SH of the motor M. shaft (not shown).

<3. Effect example of this embodiment>

As described above, the encoder 100 of this embodiment has the encoder main body 110 and the cover 120 covering the encoder main body 110. When this encoder is miniaturized, it is necessary to reduce the size of the encoder main body 110 and the cover 120. gap between. On the other hand, since the cover 120 is formed of a conductive material, it is necessary to secure an insulating distance between the encoder main body 110 and the cover 120 . By securing a sufficient insulation distance, noise that affects the function of the encoder 100 can be reduced.

Here, when some kind of wiring member (wiring member 118 in the present embodiment) is provided inside the cover 120, the wiring member may make the encoder main body 110 to avoid the disk 111, the substrate 112, and the like. The outer peripheral side is disposed close to (or in contact with) the cover 120 . Therefore, when the wiring member is energized, a stray capacitance is generated between it and the conductive cover 120 to generate a voltage (so-called electrostatic coupling), and this may cause noise or the like and hinder the function of the encoder 100. improvement. Therefore, as in the present embodiment, by providing insulating material 131 at least between wiring member 118 and cover 120, even if the gap between wiring member 118 and cover 120 is reduced, the above-mentioned electrostatic coupling can be prevented, thereby enabling The encoder 100 is miniaturized without affecting the function of the encoder 100 . As a result, it is possible to sufficiently reduce the size of the encoder 100 while maintaining its reliability.

In addition, according to this embodiment, the following effects can be obtained. That is, for the encoder 100, for example, since the wire 115 connecting the encoder 100 and the control device CT is disposed close to the power line of the motor M (not shown), noise may enter the encoder 100 through the wire 115. . This noise is transmitted to the wiring member 118 through the substrate 112C, and is influenced from the wiring member 118 to the cover 120 by electrostatic coupling or the like, which may hinder the improvement of the function of the encoder 100 . On the other hand, by providing insulating material 131 as in the present embodiment, it is possible to prevent the above-mentioned interaction between wiring member 118 and cover 120 , and to improve the resistance of encoder 100 to noise.

In addition, especially in this embodiment, the wiring member 118 is used to supply power to the light emitting element 116 . When the wiring member 118 used for this purpose is placed close to (or in contact with) the cover 120 , it may hinder the improvement of the function of the encoder 100 . It is conceivable that the current flowing when power is supplied to light-emitting element 116 is influenced by wiring member 118 to cover 120 through electrostatic coupling or the like, and is then influenced by cover 120 to substrate 112 or the like. In addition, it is also conceivable that a discharge occurs between the wiring member 118 and the cover 120 due to electrostatic coupling, thereby destabilizing the power supply to the light emitting element 116 . On the other hand, by providing the insulating material 131 as in this embodiment, it is possible to prevent the above-mentioned interaction between the wiring member 118 and the cover 120 , and to stably supply power to the light emitting element 116 .

In addition, especially in this embodiment, since the wiring member 118 has flexibility, it can be easily wound inside the cover 120 . In addition, since the distance between the substrate 112 and the light emitting element 116 connected via the wiring member 118 is not constant, the degree of freedom in designing the encoder 100 can be improved. In addition, when the flexible wiring member 118 is used, the possibility of bringing the wiring member 118 closer to (or in contact with) the cover 120 by bending or the like is improved, so that the wires installed between the wiring member 118 and the cover 120 The insulating material between them has a better effect.

In addition, especially in this embodiment, the insulating material 131 is mainly provided between the wiring member 118 and the cover 120 . In this way, the insulating material 131 can be provided emphatically at the position where the greatest cause of the impediment to the improvement of the function of the encoder 100 is thought to be, and interaction between the wiring member 118 and the cover 120 can be effectively prevented. In addition, the usage amount of the insulating material 131 can be reduced, and at the same time, the man-hours for disposing the insulating material 131 can be reduced.

In addition, especially in the present embodiment, the configuration of the encoder 100 is a so-called transmissive encoder. At this time, since the light receiving element 117 is provided on the substrate 112A, and the light emitting element 116 is arranged away from the substrate 112, the winding distance of the wiring member 118 connecting the substrate 112C and the light emitting element 116 becomes longer. In this way, the possibility of bringing the wiring member 118 closer to (or in contact with) the cover 120 by bending or the like increases, so that the provided insulating material 131 has a better effect.

<4. Modifications, etc.>

An embodiment has been described above with reference to the drawings. However, the range of technical ideas is not limited to the embodiments described here. Various changes, modifications, combinations, and the like are clearly conceivable for those having ordinary knowledge in the technical field to which the embodiments pertain within the scope of the technical idea described in the claims. Therefore, it is a matter of course that technologies after such changes, modifications, combinations, etc. are performed also fall within the scope of technical ideas. Hereinafter, such modified examples will be described in order. In addition, in the following description, the same code|symbol is attached|subjected to the same part as the said embodiment, and description is abbreviate|omitted suitably.

(4-1. When an insulating material is provided around the substrate)

In the above-mentioned embodiment, the insulating material 131 is provided only between the wiring member 118 and the cover 120, but as shown in FIG. It surrounds the periphery of the substrate 112 . In the illustration of FIG. 3 , the insulating material 132 is provided over the entire range where the substrates 112A to 112C are stacked in the rotation axis AX direction. As the insulating material 132, similar to the insulating material 131, for example, an insulating sheet, insulating tape, or insulating paint can be used. In addition, in the illustration of FIG. 3 , the insulating material 132 is provided on the inner surface of the cover 120 , but it may also be provided on the substrate 112 side, for example, an insulating tape is wound around the substrate 112 . That is, it is sufficient as long as the insulating material is located between the substrate 112 and the cover 120 .

As described above, it is conceivable that the reason for hindering the improvement of the function of the encoder 100 is that the current flowing when the power is supplied to the light emitting element 116 is influenced by the wiring member 118 to the cover 120 through electrostatic coupling or the like, and then passes through the cover 120 to the substrate 112 and the like. In this way, it is also conceivable that an abnormal operation of the electronic components mounted on the substrate 112 may be caused. On the other hand, as in this modified example, not only an insulating material is provided between the wiring member 118 and the cover 120, but also it is provided between the substrate 112 and the cover 120 so as to surround the periphery of the substrate 112, thereby preventing The interaction between the cover 120 and the substrate 112 prevents abnormal operation of the electronic components mounted on the substrate 112 . In this way, the reliability of the encoder 100 can be maintained and sufficiently miniaturized.

In addition, in the illustration of FIG. 3 , both the insulating material 131 located between the wiring member 118 and the cover 120 and the insulating material 132 located between the substrate 112 and the cover 120 are provided, but only the insulating material may be provided. 132. Even so, almost the same effect as that of the above-described embodiment can be obtained by positioning the insulating material 132 at least in a part of the region between the wiring member 118 and the cover 120 .

(4-2. When an insulating material is provided on the entire inner peripheral surface of the cover)

In the above embodiment, insulating material 131 is provided only between wiring member 118 and cover 120 , but insulating material 133 covering the entire inner peripheral surface of cover 120 may be provided as shown in FIG. 4 . As the insulating material 133, the same as the insulating materials 131 and 132 described above, for example, an insulating sheet, insulating tape, or insulating paint can be used. Insulating material, preferably insulating paint is used.

According to this modified example, not only the wiring member 118 and the substrate 112 but also the entire encoder main body 110 including other components can be reliably prevented from interacting with each other.

(4-3. When using non-flexible wiring parts)

In the above-mentioned embodiment, an example in which a flexible wiring member is used has been described, but the present invention is not limited thereto, and a non-flexible wiring member may be used. For example, in the illustration of FIG. 5 , the wiring member 119 has a case formed of plastic resin or the like, and has predetermined rigidity. Both ends of the wiring member 119 have male connector parts 119a, 119b, the connector part 119a is inserted into the female connector part CN1 mounted on the substrate 112C, and the connector part 119b is inserted into the connector part 119b provided on the light emitting element 116. on the female connector part CN2.

Similar to the above-described embodiment, the insulating member 131 is provided only at a position where the wiring member 119 and the cover 120 are close to each other. In this example, insulating material 131 is provided over the entire range where wiring member 119 is wound between substrate 112C and light emitting element 116 substantially in the direction of rotation axis AX, including connector portions 119a and 119b. Also in this modified example, the same effect as that of the above-mentioned embodiment can be obtained.

(4-4. Others)

In the above embodiment, an example in which the wiring member 118 is used to supply power to the light emitting element 116 has been described, however, the use of the wiring member is not limited to this. For example, wiring for connecting the substrates is provided inside the cover 120. As long as at least one end of the wiring member is connected to any one of the substrates 112, it can be installed between the wiring member and the cover 120 regardless of its use. Insulation material is provided between.

In addition, in the above embodiment, the encoder 100 was described as an example of a transmissive encoder, but it can also be applied to a so-called reflective encoder in which the light emitting element 116 and the light receiving element 117 are arranged on one side of the disk 111. . In this case, for example, both light-emitting element 116 and light-receiving element 117 may be disposed on substrate 112A, and light-emitting element 116 and substrate 112A or substrate 112C may be connected via wiring member 118 .

Explanation of reference signs

100: Encoder

110: Encoder body

111: Disc

112A to C: Substrate

116: Light emitting element

117: Light receiving element

118: Wiring parts

120: Hood

131: insulating material

132: insulating material

133: insulating material

HB: hub (an example of a rotating body)

M: motor

SH: Shaft

SM: servo motor

Claims (8)

1. a scrambler, is characterized in that, has:

Disk, described disk is fixed on rotary body, and is formed with a plurality of slits and is discoideus;

Substrate, described substrate is configured in side's side of described disk, and at least has one;

Distribution component, at least one end of described distribution component is connected on described substrate;

Cover, described cover has electric conductivity, and for covering the encoder main body with described disk, described substrate and described distribution component; And

Insulating material, described insulating material is arranged on the inside of described cover, and is at least arranged between described distribution component and described cover.

2. scrambler according to claim 1, is characterized in that,

Described encoder main body has:

Light-emitting component, its described slit to described disk penetrates light; And

Photo detector, it accepts to penetrate and be subject to from described light-emitting component the light of the effect of described slit,

Described one end of described distribution component is connected on described substrate and the other end is connected with described light-emitting component, and described distribution component is for powering to described light-emitting component.

3. scrambler according to claim 1 and 2, is characterized in that,

Described distribution component has flexible.

4. according to the scrambler described in any one in claims 1 to 3, it is characterized in that,

Described insulating material is mainly arranged between described distribution component and described cover.

5. according to the scrambler described in any one in claims 1 to 3, it is characterized in that,

Described insulating material is arranged between described distribution component and described cover, and is arranged between described substrate and described cover to surround the mode of the surrounding of described substrate.

6. according to the scrambler described in any one in claims 1 to 3, it is characterized in that,

Described insulating material is set to cover the whole inner peripheral surface of described cover.

7. according to the scrambler described in any one in claim 2 to 6, it is characterized in that,

Described light-emitting component and described photo detector are configured in its both sides across described disk,

Described photo detector accepts to penetrate and see through from described light-emitting component the light of described slit.

8. a servomotor, is characterized in that,

There is the motor that makes axle rotation and the scrambler that detects the position of described axle,

Described scrambler has:

Disk, described disk is fixed on described axle directly or indirectly, and is formed with a plurality of slits and is discoideus;

Substrate, described substrate is configured in side's side of described disk, and at least has one;

Distribution component, at least one end of described distribution component is connected on described substrate;

Cover, described cover has electric conductivity, and for covering the encoder main body with described disk, described substrate and described distribution component; And

Insulating material, described insulating material is at least arranged between described distribution component and described cover.