CN104535092A - Servo motor encoder and signal generating method - Google Patents
Servo motor encoder and signal generating method Download PDFInfo
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- CN104535092A CN104535092A CN201410834639.XA CN201410834639A CN104535092A CN 104535092 A CN104535092 A CN 104535092A CN 201410834639 A CN201410834639 A CN 201410834639A CN 104535092 A CN104535092 A CN 104535092A
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Abstract
The invention belongs to the technical field of motor accessories, and particularly relates to a servo motor encoder and a signal generating method. The technical problem that the precision is poor in the prior art is solved. The servo motor encoder comprises a shell. A photoelectric encoder and a rotating coded disc working in cooperation with the photoelectric encoder are arranged inside the shell. When the rotating coded disc rotates, a first set of signals can be generated by the photoelectric encoder, and a magnetic sensor chip and a rotating magnet working in cooperation with the magnetic sensor chip are arranged inside the shell; when the rotating magnet rotates, a second set of signals can be generated by the magnetic sensor chip. The signal generating method comprises the following steps of A signal generation and B differential signaling. The servo motor encoder and the signal generating method have the advantages that the design is more reasonable, precision is high, the cost is low, and practicability is high; the structure is simple, and manufacturing is easy; the signal stability is good, the service life is long, and the servo motor running stability is further improved; the method is simple, easy to control and low in running cost.
Description
Technical field
The invention belongs to motor accessory technical field, particularly relate to a kind of encoder for servo motor and signal generating method.
Background technology
Scrambler be signal (as bit stream) or data are carried out work out, being converted to can in order to the equipment of the signal form of communication, transmission and storage.The scrambler being applied to servomotor usually adopts photoelectric encoder and rotation code-disc in conjunction with collection signal or adopts rotary magnet with magnetic sensor chip in conjunction with collection signal.But, when servomotor is applied to the higher occasion of control accuracy and the poor occasion of working environment, photoelectric encoder and rotate encoder for servo motor and rotary magnet that code-disc forms and the encoder for servo motor that magnetic sensor chip is formed all exists certain weak point.Although photoelectric encoder and rotate the encoder for servo motor that code-disc forms and can realize higher precision, high-precision photoelectric encoder and to rotate code-disc cost quite high, and rotate code-disc and easily adhere to dust because of Long-Time Service, thus reduction precision.The precision of the encoder for servo motor that rotary magnet and magnetic sensor chip are formed is lower, although can promote precision by the mode of frequency multiplication, is still difficult to meet needed for use.In order to solve prior art Problems existing, people have carried out long-term exploration, propose solution miscellaneous.
Such as; Chinese patent literature discloses a kind of servomotor special small scrambler; [application number: 201220507980.0]; this scrambler comprises circuit board, cable core, cable, the column for fixing circuit board, dynamic grating, encoder main body, main shaft, light emitting source, shell; it is characterized in that: it also comprises and being arranged on for blocking the two main body block not occurring to rub, the shaping wire bushing of rubber for the protection of cable core between cable core and dynamic grating, and described cable core is welded on the below of circuit board.The program is simple and reasonable, can reduce the height of overall encoder for servo motor, solves the problem of outlet difficulty, practicality elegant in appearance simultaneously.In addition, Chinese patent literature also discloses a kind of permanent-magnet servo motor encoder special, [application number: 201220352841.5], this scrambler comprises shell, be arranged on the encoder main body of enclosure, be arranged on the quiet grating on encoder main body, be connected to the dynamic light on main shaft encoder basement and the circuit board with electric elements, it is characterized in that: described circuit board is superposed by the high density integrated circuit having plate body of four layers of circuit to form.The circuit function that the program adopts four floor height integrated circuit plate bodys to instead of old-fashioned scrambler in the past to need employing two pieces of double-layer circuit boards to realize, the use of four-layer circuit board body saves space, also save installation and adjustment cost, also save the cost of raw material simultaneously, integrated level is high, VDD-to-VSS line is placed in the middle of circuit board two-layer, and the antijamming capability of scrambler is strengthened, and improves usability.
Above-mentioned scheme improves the subproblem of prior art to a certain extent, but above-mentioned scheme also at least exists following defect: design unreasonable, precision is lower, complicated integral structure and cost is higher.
Summary of the invention
The object of the invention is for the problems referred to above, provide a kind of design more rationally, the high and encoder for servo motor that cost is low of precision.
Another object of the present invention is for the problems referred to above, provides one can carry high-precision signal generating method.
For achieving the above object, present invention employs following technical proposal: this encoder for servo motor comprises housing, in housing, be provided with the photoelectric encoder of the work of cooperatively interacting and rotate code-disc, and photoelectric encoder can be made to produce first group of signal when rotating code-disc and rotating, also be provided with magnetic sensor chip and the rotary magnet of the work of cooperatively interacting in described housing, and magnetic sensor chip can be made when rotary magnet rotates to produce second group of signal.
In this application, adopt photoelectric encoder and rotate the structure that code-disc and magnetic sensor chip and rotary magnet match and can reduce manufacturing cost further, meanwhile, precision significantly improves, not only signal stabilization is better, and can improve the practicality of servomotor further.
In above-mentioned encoder for servo motor, first group of described signal comprises a-signal and B signal, and described photoelectric encoder is connected with the first difference channel and a-signal becomes difference to become A with B signal by the first difference channel difference
+signal, A
-signal, B
+signal and B
-signal; Second group of described signal comprises U signal, V signal and W signal, and described magnetic sensor chip is connected with the second difference channel and U signal, V signal become U with W signal by the second difference channel difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.Second group of signal also comprises Z signal, and a-signal here, B signal, U signal, V signal, W signal and Z signal are the various control signals of motor.
In above-mentioned encoder for servo motor, described photoelectric encoder and the first difference channel are arranged on first circuit board, described magnetic sensor chip and the second difference channel are arranged on the second circuit board, and described first circuit board and second circuit board are all arranged in housing.Photoelectric encoder is Agilent 256 linear light photoelectric coder, magnetic sensor chip is AS5134 chip, the signal of the U signal of AS5134 chip, V signal, W signal and Z signal is more accurate, and the a-signal of Agilent 256 linear light photoelectric coder and the signal of B signal more accurate, simultaneously, line number is also many, and the two combines can learn from other's strong points to offset one's weaknesses, and improves the practicality of whole scrambler.
In above-mentioned encoder for servo motor, described shell one end is equipped with rotating shaft rotationally, described rotation code-disc and rotary magnet are all fixed in rotating shaft, described rotation code-disc is corresponding with the photoelectric encoder on first circuit board to be arranged, and described rotary magnet is corresponding with the magnetic sensor chip on second circuit board to be arranged.
In above-mentioned encoder for servo motor, described rotary magnet is fixed on rotating shaft inner end, described rotation code-disc is positioned at below rotary magnet, described first circuit board and second circuit board to be fixed in housing and axially spaced-apart distribution, described second circuit board is positioned at above rotating shaft inner face and magnetic sensor chip is opposite with rotary magnet, described first circuit board is arranged in below second circuit board and rotating shaft is located in first circuit board rotationally, and described rotation code-disc is arranged in the recess of photoelectric encoder.
In above-mentioned encoder for servo motor, described first circuit board is fixed on mount pad, described rotating shaft is located in mount pad rotationally and mount pad is fixed in housing by location structure, be provided with bearing between described mount pad and rotating shaft, be provided with some insulated columns between described second circuit board and mount pad and second circuit board is fixed on above mount pad by some securing members.
In above-mentioned encoder for servo motor, described securing member and insulated column one_to_one corresponding arrange and securing member is located in insulated column, one end and the mount pad of securing member are connected, and the other end passes first circuit board and first circuit board is pressed on insulated column end by its end.Securing member comprises holding screw and fastening bolt etc.
In above-mentioned encoder for servo motor, described location structure comprises the locating rack being fixed on shell one end, described rotating shaft is located in locating rack, and the central area of described locating rack convexes to form annular erecting bed to enclosure interior, and described mount pad is fixed on annular erecting bed.
In above-mentioned encoder for servo motor, described rotation code-disc inner circumferential sidepiece has the breach of some even circumferentials distribution, and is formed protruding between adjacent two breach.
In above-mentioned encoder for servo motor, described housing comprises base and is fastened on the outer cover on base, be connected by Detachable connection structure between base and outer cover, this demountable structure comprises some draw-in grooves being arranged on base sidepiece, outer cover is provided with some fixture blocks that can be stuck in one by one in described draw-in groove, away from one end of outer cover, there is the hook portion that can be hooked in base end face at every block fixture block.
Signal generating method, the method comprises the steps:
A, signal produce: photoelectric encoder and rotate code-disc and to cooperatively interact work, and photoelectric encoder can be made to produce first group of signal when rotating code-disc rotation; Magnetic sensor chip and rotary magnet cooperatively interact work, and magnetic sensor chip can be made to produce second group of signal when rotary magnet rotates;
B, differential signal: by the first difference channel by first group of signal differential; By the second difference channel by second group of signal differential.
In above-mentioned signal generating method, first group of described signal comprises a-signal and B signal, and second group of described signal comprises U signal, V signal and W signal; A-signal becomes difference to become A with B signal by the first difference channel difference
+signal, A
-signal, B
+signal and B
-signal; U signal, V signal become U with W signal by the second difference channel difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.
Compared with prior art, the advantage of this encoder for servo motor and signal generating method is: 1, design is more reasonable, and precision is high and cost is low, practical; 2, structure is simple and be easy to manufacture; 3, the good and long service life of signal stabilization, further increases the stability that servomotor runs; 4, method is simple and be easy to manipulation, and operating cost is low.
Accompanying drawing explanation
Fig. 1 is detonation configuration schematic diagram provided by the invention.
Fig. 2 is sectional structure schematic diagram provided by the invention.
Fig. 3 is code-disc structural representation provided by the invention.
Fig. 4 is first circuit board structural representation provided by the invention.
Fig. 5 is second circuit board structural representation provided by the invention.
In figure, housing 1, base 11, draw-in groove 11a, outer cover 12, fixture block 12a, hook portion 12b, photoelectric encoder 1a, rotation code-disc 1b, magnetic sensor chip 1c, rotary magnet 1d, the first difference channel 1e, the second difference channel 1f, protective cover 1g, extension line 1h, first circuit board 2, second circuit board 3, rotating shaft 4, mount pad 5, positioning step 5a, location structure 51, locating rack 51a, annular erecting bed 51b, bearing 52, insulated column 53, securing member 54.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
As Figure 1-5, this encoder for servo motor comprises housing 1, the outer cover 12 that housing 1 comprises base 11 and is fastened on base, is connected between base and outer cover by Detachable connection structure.Particularly, this demountable structure comprises some draw-in groove 11a being arranged on base sidepiece, and outer cover is provided with some fixture block 12a that can be stuck in one by one in described draw-in groove, has the hook portion 12b that can be hooked in base end face at every block fixture block away from one end of outer cover.Housing 1 is also connected with extension line 1h.
In housing 1, be provided with the photoelectric encoder 1a of the work of cooperatively interacting and rotate code-disc 1b, and photoelectric encoder 1a can be made to produce first group of signal when rotating code-disc 1b and rotating, also be provided with magnetic sensor chip 1c and the rotary magnet 1d of the work of cooperatively interacting in described housing 1, and magnetic sensor chip 1c can be made when rotary magnet 1d rotates to produce second group of signal.Particularly, first group of signal of the present embodiment comprises a-signal and B signal, and described photoelectric encoder 1a is connected with the first difference channel 1e and a-signal becomes difference to become A with B signal by the first difference channel 1e difference
+signal, A
-signal, B
+signal and B
-signal; Second group of described signal comprises U signal, V signal and W signal, and described magnetic sensor chip 1c is connected with the second difference channel 1f and U signal, V signal become U with W signal by the second difference channel 1f difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.
Prioritization scheme, here photoelectric encoder 1a and the first difference channel 1e is arranged on first circuit board 2, described magnetic sensor chip 1c and the second difference channel 1f is arranged on second circuit board 3, and described first circuit board 2 and second circuit board 3 are all arranged in housing 1.Photoelectric encoder is Agilent 256 linear light photoelectric coder, magnetic sensor chip is AS5134 chip, the signal of the U signal of AS5134 chip, V signal, W signal and Z signal is more accurate, and the a-signal of Agilent 256 linear light photoelectric coder and the signal of B signal more accurate, simultaneously, line number is also many, and the two combines can learn from other's strong points to offset one's weaknesses, and improves the practicality of whole scrambler.
Secondly, rotating shaft 4 is equipped with rotationally in housing 1 one end, described rotation code-disc 1b and rotary magnet 1d is all fixed in rotating shaft 4, described rotation code-disc 1b is corresponding with the photoelectric encoder 1a on first circuit board 2 to be arranged, and described rotary magnet 1d is corresponding with the magnetic sensor chip 1c on second circuit board 3 to be arranged.Rotary magnet 1d is fixed on rotating shaft 4 inner end, described rotation code-disc 1b is positioned at below rotary magnet 1d, described first circuit board 2 and second circuit board 3 to be fixed in housing 1 and axially spaced-apart distribution, described second circuit board 3 is positioned at above rotating shaft 4 inner face and magnetic sensor chip 1c is opposite with rotary magnet 1d, described first circuit board 2 is arranged in below second circuit board 3 and rotating shaft 4 is located in first circuit board 2 rotationally, and described rotation code-disc 1b is arranged in the recess of photoelectric encoder 1a.Be arranged with protective cover 1g in the outside of housing 1, protective cover 1g and rotation are rotatedly connected.
In addition, first circuit board 2 is fixed on mount pad 5, described rotating shaft 4 is located in mount pad 5 rotationally and mount pad 5 is fixed in housing 1 by location structure 51, be provided with bearing 52 between described mount pad 5 and rotating shaft 4, be provided with some insulated columns 53 between described second circuit board 3 and mount pad 5 and second circuit board 3 is fixed on above mount pad 5 by some securing members 54.Rotate the breach that code-disc inner circumferential sidepiece has the distribution of some even circumferentials, and formed protruding between adjacent two breach, the through hole of some even circumferentials distribution is provided with in the outer rim rotating code-disc, rotating code-disc is fixed on the positioning step 5a of mount pad 5, have counterbore at the inner end of mount pad 5, described rotary magnet 1d is arranged in counterbore.
Prioritization scheme, here securing member 54 arranges with insulated column 53 one_to_one corresponding and securing member 54 is located in insulated column 53, one end and the mount pad 5 of securing member 54 are connected, and the other end passes first circuit board 2 and first circuit board 2 is pressed on insulated column 53 end by its end.
Particularly, above-mentioned location structure 51 comprises the locating rack 51a being fixed on housing 1 one end, described rotating shaft 4 is located in locating rack 51a, and the central area of described locating rack 51a forms annular erecting bed 51b to housing 1 internal protrusion, and described mount pad 5 is fixed on annular erecting bed 51b.
The principle of work of the present embodiment is as follows: photoelectric encoder 1a and rotate code-disc 1b and to cooperatively interact work, and photoelectric encoder 1a can be made to produce first group of signal when rotating code-disc 1b rotation; Magnetic sensor chip 1c and rotary magnet 1d cooperatively interacts work, and magnetic sensor chip 1c can be made second group of signal is produced when rotary magnet 1d rotates, first group of signal comprises a-signal and B signal, and second group of described signal comprises U signal, V signal and W signal; A-signal becomes difference to become A with B signal by the first difference channel 1e difference
+signal, A
-signal, B
+signal and B
-signal; U signal, V signal become U with W signal by the second difference channel 1f difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.In addition, second group of signal here also comprises Z signal, and Z signal forms differentiated Z signal by the second difference channel 1f difference.
The signal generating method of encoder for servo motor, the method comprises the steps:
A, signal produce: photoelectric encoder 1a and rotate code-disc 1b and to cooperatively interact work, and photoelectric encoder 1a can be made to produce first group of signal when rotating code-disc 1b rotation; Magnetic sensor chip 1c and rotary magnet 1d cooperatively interacts work, and magnetic sensor chip 1c can be made to produce second group of signal when rotary magnet 1d rotates;
B, differential signal: by the first difference channel 1e by first group of signal differential; By the second difference channel 1f by second group of signal differential.
In above-mentioned step B, first group of described signal comprises a-signal and B signal, and second group of described signal comprises U signal, V signal and W signal; A-signal becomes difference to become A with B signal by the first difference channel 1e difference
+signal, A
-signal, B
+signal and B
-signal; U signal, V signal become U with W signal by the second difference channel 1f difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ housing 1, base 11, draw-in groove 11a, outer cover 12, fixture block 12a, hook portion 12b, photoelectric encoder 1a herein, rotate the term such as code-disc 1b, magnetic sensor chip 1c, rotary magnet 1d, the first difference channel 1e, the second difference channel 1f, protective cover 1g, extension line 1h, first circuit board 2, second circuit board 3, rotating shaft 4, mount pad 5, positioning step 5a, location structure 51, locating rack 51a, annular erecting bed 51b, bearing 52, insulated column 53, securing member 54, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (10)
1. an encoder for servo motor, comprise housing (1), it is characterized in that, be provided with the photoelectric encoder (1a) of the work of cooperatively interacting in described housing (1) and rotate code-disc (1b), and photoelectric encoder (1a) can be made to produce first group of signal when rotating code-disc (1b) and rotating, also be provided with magnetic sensor chip (1c) and the rotary magnet (1d) of the work of cooperatively interacting in described housing (1), and magnetic sensor chip (1c) can be made when rotary magnet (1d) rotates to produce second group of signal.
2. encoder for servo motor according to claim 1, it is characterized in that, first group of described signal comprises a-signal and B signal, and described photoelectric encoder (1a) is connected with the first difference channel (1e) and a-signal becomes difference to become A with B signal by the first difference channel (1e) difference
+signal, A
-signal, B
+signal and B
-signal; Second group of described signal comprises U signal, V signal and W signal, and described magnetic sensor chip (1c) is connected with the second difference channel (1f) and U signal, V signal become U with W signal by the second difference channel (1f) difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.
3. encoder for servo motor according to claim 2, it is characterized in that, described photoelectric encoder (1a) and the first difference channel (1e) are arranged on first circuit board (2), described magnetic sensor chip (1c) and the second difference channel (1f) are arranged on second circuit board (3), and described first circuit board (2) and second circuit board (3) are all arranged in housing (1).
4. encoder for servo motor according to claim 3, it is characterized in that, described housing (1) one end is equipped with rotating shaft (4) rotationally, described rotation code-disc (1b) and rotary magnet (1d) are all fixed in rotating shaft (4), described rotation code-disc (1b) is corresponding with the photoelectric encoder (1a) on first circuit board (2) to be arranged, and described rotary magnet (1d) is corresponding with the magnetic sensor chip (1c) on second circuit board (3) to be arranged.
5. encoder for servo motor according to claim 4, it is characterized in that, described rotary magnet (1d) is fixed on rotating shaft (4) inner end, described rotation code-disc (1b) is positioned at rotary magnet (1d) below, described first circuit board (2) and second circuit board (3) to be fixed in housing (1) and axially spaced-apart distribution, described second circuit board (3) is positioned at above rotating shaft (4) inner face and magnetic sensor chip (1c) is opposite with rotary magnet (1d), described first circuit board (2) is arranged in second circuit board (3) below and rotating shaft (4) is located in first circuit board (2) rotationally, described rotation code-disc (1b) is arranged in the recess of photoelectric encoder (1a).
6. encoder for servo motor according to claim 5, it is characterized in that, described first circuit board (2) is fixed on mount pad (5), described rotating shaft (4) is located in mount pad (5) rotationally and mount pad (5) is fixed in housing (1) by location structure (51), bearing (52) is provided with between described mount pad (5) and rotating shaft (4), be provided with some insulated columns (53) between described second circuit board (3) and mount pad (5) and second circuit board (3) by some securing members (54) be fixed on mount pad (5) top.
7. encoder for servo motor according to claim 6, it is characterized in that, described securing member (54) and insulated column (53) one_to_one corresponding arrange and securing member (54) is located in insulated column (53), one end and the mount pad (5) of securing member (54) are connected, and the other end passes first circuit board (2) and first circuit board (2) is pressed on insulated column (53) end by its end.
8. the encoder for servo motor according to claim 6 or 7, it is characterized in that, described location structure (51) comprises the locating rack (51a) being fixed on housing (1) one end, described rotating shaft (4) is located in locating rack (51a), the central area of described locating rack (51a) forms annular erecting bed (51b) to housing (1) internal protrusion, and described mount pad (5) is fixed on annular erecting bed (51b).
9. adopt a signal generating method for the encoder for servo motor described in claim 1-8 any one, it is characterized in that, the method comprises the steps:
A, signal produce: photoelectric encoder (1a) and rotate code-disc (1b) and to cooperatively interact work, and photoelectric encoder (1a) can be made to produce first group of signal when rotation code-disc (1b) is rotated; Magnetic sensor chip (1c) and rotary magnet (1d) cooperatively interact work, and magnetic sensor chip (1c) can be made to produce second group of signal when rotary magnet (1d) rotates;
B, differential signal: by the first difference channel (1e) by first group of signal differential; By the second difference channel (1f) by second group of signal differential.
10. signal generating method according to claim 9, is characterized in that, in above-mentioned step B, first group of described signal comprises a-signal and B signal, and second group of described signal comprises U signal, V signal and W signal; A-signal becomes difference to become A with B signal by the first difference channel (1e) difference
+signal, A
-signal, B
+signal and B
-signal; U signal, V signal become U with W signal by the second difference channel (1f) difference
+signal, U
-signal, V
+signal, V
-signal, W
+signal and W
-signal.
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| CN105369455A (en) * | 2015-06-05 | 2016-03-02 | 欧真自动化科技（上海）有限公司 | Synchronous servo weft accumulator |
| CN105004358A (en) * | 2015-08-14 | 2015-10-28 | 成都伊贝基科技有限公司 | Photo-magnetic hybrid coder |
| CN105157734A (en) * | 2015-08-28 | 2015-12-16 | 长春三峰光电仪器制造有限公司 | Encoder |
| CN105180976A (en) * | 2015-09-15 | 2015-12-23 | 东菱技术有限公司 | Magneto-electric mixing type absolute value encoder |
| CN106679702B (en) * | 2016-11-30 | 2019-06-18 | 济南轲盛自动化科技有限公司 | Encoder |
| CN106679702A (en) * | 2016-11-30 | 2017-05-17 | 济南轲盛自动化科技有限公司 | Encoder |
| CN108362314A (en) * | 2018-03-17 | 2018-08-03 | 欣灵电气股份有限公司 | High-precision servo encoder |
| JP7085754B2 (en) | 2018-09-28 | 2022-06-17 | 帝国通信工業株式会社 | Optical encoder |
| JP7156687B2 (en) | 2018-11-09 | 2022-10-19 | 帝国通信工業株式会社 | optical encoder |
| JP7156686B2 (en) | 2018-11-09 | 2022-10-19 | 帝国通信工業株式会社 | optical encoder |
| CN112787468A (en) * | 2019-11-05 | 2021-05-11 | 西安铁路信号有限责任公司 | Servo motor magnetic encoder with high reliability and high cost performance |
| CN117870741A (en) * | 2024-03-13 | 2024-04-12 | 长春禹衡光学有限公司 | Grating encoder protection system and encoder |
| CN117870741B (en) * | 2024-03-13 | 2024-05-17 | 长春禹衡光学有限公司 | Grating encoder protection system and encoder |
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