CN107340005A - Multi-turn absolute value encoder, drive device, storage medium and control method - Google Patents
Multi-turn absolute value encoder, drive device, storage medium and control method Download PDFInfo
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- CN107340005A CN107340005A CN201710500032.1A CN201710500032A CN107340005A CN 107340005 A CN107340005 A CN 107340005A CN 201710500032 A CN201710500032 A CN 201710500032A CN 107340005 A CN107340005 A CN 107340005A
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- 238000003860 storage Methods 0.000 title claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 18
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- 238000010168 coupling process Methods 0.000 claims description 7
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- 238000010276 construction Methods 0.000 abstract description 9
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
- F16H1/10—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes one of the members being internally toothed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
- F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/06—Gearings for conveying rotary motion by endless flexible members with chains
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
- G01D5/34738—Axles; Driving or coupling means
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention provides a kind of multi-turn absolute value encoder, drive device, storage medium and control method, mainly the rotational angle of the first drive and the second drive is detected respectively by two individual pen absolute value encoders, simultaneously the diameter or the number of teeth of the first drive and the second drive are arranged to differ, the multi-turn corner of drive can be calculated by outer corner difference and girth difference, realize simple in construction by two, lower-cost individual pen absolute value encoder, form overall structure also relatively simple multi-turn absolute value encoder, realize the record of multi-turn corner.And the purpose of the present invention can be realized by efficient control method and related drive device, storage medium.
Description
Technical field
The present invention relates to encoder field, more particularly to a kind of multi-turn absolute value encoder, drive device, computer to store
The control method of medium, the control method of multi-turn absolute value encoder and drive device.
Background technology
Absolute encoder is provided with many road optical channel grooves on its optical code disk, and per pass groove is successively with 2 lines, 4 lines, 8
Line, 16 line layouts, so each position in encoder, by reading the logical, dark of per pass groove, obtain one group from 2 zero
Unique 2 scale coding of the power to 2 n-1 powers（Gray code）, this is known as n positions absolute encoder.
Absolute encoder determines coding by mechanical location, and it is without memory, without looking for reference point, and without counting always
Number can be known, it is necessary to when obtaining correspondence position by the coding information for reading optical code disk.It can be seen that absolute value encoder
Noiseproof feature, power down information keeping quality, the reliability of data substantially increase.
The measurement within 360 degree of rotating range can only be recorded from individual pen absolute value encoder, and multi-turn absolute value encoder
The angle of multipurpose rotary is then able to record, multi-turn absolute value encoder is former by machine driving on the basis of single-ring encoder
Reason, is formed using watch gear theory of mechanics structure fabrication, and clock-type multi-turn absolute value encoder generally existing drive is more
The problem of complicated, complex manufacturing and the high high failure rate of machinery of cost.
The content of the invention
The first object of the present invention is to provide a kind of multi-turn absolute value encoder simple in construction.
The second object of the present invention is to provide a kind of drive device with multi-turn absolute value encoder simple in construction.
The third object of the present invention is to provide a kind of control method of multi-turn absolute value encoder simple in construction.
The fourth object of the present invention is to provide a kind of computer-readable recording medium that above-mentioned control method can be achieved.
The fifth object of the present invention is to provide a kind of multi-turn absolute value encoder that above-mentioned control method can be achieved.
The sixth object of the present invention is to provide a kind of drive device that above-mentioned control method can be achieved.
In order to realize the first object of the present invention, the invention provides a kind of multi-turn absolute value encoder, wherein, including：
First drive；
Second drive, the diameter of the first drive are more than the diameter of the second drive, and the first drive and the second drive connect
Connect；
First individual pen absolute value encoder, the first individual pen absolute value encoder are connected with the first drive and turned with same rotational speed
It is dynamic；
Second individual pen absolute value encoder, the second individual pen absolute value encoder are connected with the second drive and turned with same rotational speed
It is dynamic.
Further scheme is that the first individual pen absolute value encoder passes through coaxial connection with the first drive；Or the
One individual pen absolute value encoder is connected with the first drive by shaft coupling.
Further scheme is the connection coaxial with the second drive of the second individual pen absolute value encoder；Or second is single
Circle absolute value encoder is connected with the second drive by shaft coupling.
Further scheme is that the first drive is internal gear, and the second drive is external gear；First drive and
Two drives engage, or, the first drive is connected with the second drive by Cycloidal pin-wheel drive mode.
Further scheme is that the first drive and the second drive are external gear；First drive and second passes
Driving wheel engages；Or first drive be connected with the second drive by conveyer belt, conveyer chain or gear.
From such scheme, the first drive and second are passed respectively by individual pen absolute value encoder simple in construction
The rotational angle of driving wheel is detected, while the diameter of the first drive and the second drive is arranged to differ, by turning
Angular difference and girth is poor, the multi-turn corner of drive can be calculated in number of teeth difference and the first round and the second tooth number, that is, realize logical
Cross two simple in construction, lower-cost individual pen absolute value encoders, form overall structure also relatively simple multi-turn absolute value
Encoder, realize the record of multi-turn corner.
Connection for individual pen absolute value encoder and drive, in addition to using coaxial connection, shaft coupling can also be used
Device connects, such as Hooks coupling universal coupling, meanwhile, the design for drive is also diversified, such as matching somebody with somebody for internal gear and external gear
Close, such as the cooperation of Cycloidal pin-wheel drive mode, such as two external gears, can also be connected by conveyer belt, conveyer chain or gear, can basis
Actual gearratio is configured so that the multi-turn absolute value encoder of this case has larger transformation space, to be adapted to difference
Use environment and use demand.
In order to realize the second object of the present invention, the present invention provides a kind of drive device, including motor and for controlling
The processor of motor processed, wherein：
Drive device also includes multi-turn absolute value encoder, and multi-turn absolute value encoder uses the multi-turn of any one of such scheme
Absolute value encoder；
Motor is connected with the first driving wheel or the second driving wheel；
The output end of drive device is connected with the first driving wheel or the second driving wheel；
First individual pen absolute value encoder and the second individual pen absolute value encoder are connected with processor respectively.
From such scheme, the multi-turn absolute value encoder of this case can function as transmission mechanism and be used, one end
With motor connection, one end is used for the output of power, and multi-turn absolute value encoder can monitor output end in real time, and utilize processing
Device accurately controls motor in real time.
In order to realize the third object of the present invention, the present invention provides a kind of controlling party for multi-turn absolute value encoder
Method, wherein, multi-turn absolute value encoder uses any one of the claims 1-5 multi-turn absolute value encoder；
Control method includes：
Obtain the poor number of teeth between the first driving wheel and the second driving wheel, the first individual pen corner of the first driving wheel and the second driving
Second individual pen corner of wheel；
Calculate the outer corner difference of the first individual pen corner and the second individual pen corner；
According to resolution ratio, the number of teeth of outer corner difference, the second individual pen absolute value encoder be poor, Tooth Number Calculation second gear of second gear
Turnning circle；
The multi-turn corner of second gear is calculated according to the turnning circle of second gear and the second individual pen corner.
In order to realize the fourth object of the present invention, the present invention provides a kind of computer-readable recording medium, in storage medium
Computer program is stored with, wherein：Realized when computer program is executed by processor such as the step of above-mentioned control method.
In order to realize the fifth object of the present invention, the present invention provides a kind of multi-turn absolute value encoder, and multi-turn absolute value is compiled
Code device includes processor and memory, wherein：Processor is realized as above when being used to perform the computer program stored in memory
The step of stating control method.
In order to realize the sixth object of the present invention, the present invention provides a kind of drive device, including motor, for controlling
The processor and memory of motor, wherein：Processor is realized such as when being used to perform the computer program stored in memory
The step of above-mentioned control method.
From such scheme, by above-mentioned control method, and the storage medium, more of above-mentioned control method can be realized
Absolute value encoder and drive device are enclosed, relatively simple control method and multi-turn absolute encoder simple in construction can be passed through
Device, realize the record of multi-turn corner.
Brief description of the drawings
Fig. 1 is the structure chart of multi-turn absolute value encoder first embodiment of the present invention.
Fig. 2 is the structure chart of multi-turn absolute value encoder second embodiment of the present invention.
Fig. 3 is structure chart of the multi-turn absolute value encoder second embodiment of the present invention under another visual angle.
Fig. 4 is the structure chart of multi-turn absolute value encoder 3rd embodiment of the present invention.
Fig. 5 is the structure chart of multi-turn absolute value encoder fourth embodiment of the present invention.
Fig. 6 is the flow chart of multi-turn absolute value encoder control method embodiment of the present invention.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
Multi-turn absolute value encoder first embodiment：
Reference picture 1, Fig. 1 are the structure charts of multi-turn absolute value encoder first embodiment, and multi-turn absolute value encoder 1 includes first
Drive 11, the second drive 12, the first individual pen absolute value encoder 13 and the second individual pen absolute value encoder 14, the present embodiment
In, the first drive 11 and the second drive 12 directly engage connection using external gear, and the diameter of the first drive 11 is more than the
The diameter of two drives 12, and the number of teeth of the first drive 11 is more than the number of teeth of the second drive 12.
First individual pen absolute value encoder 13 is connected with the first drive 11 and rotated with same rotational speed, and the second individual pen is absolute
Value encoder 14 is connected with the second drive 12 and rotated with same rotational speed, and the connection of individual pen absolute value encoder and drive is
Pass through coaxial connection.
Photoelectric encoder, magnetic encoder, resolving encoder or capacitive grating can be used to compile for individual pen absolute value encoder
Code device etc..
Multi-turn absolute value encoder second embodiment：
Reference picture 2 and Fig. 3, Fig. 2 and Fig. 3 are the structure charts of multi-turn absolute value encoder second embodiment, multi-turn absolute encoder
Device 2 includes the first drive 21, the second drive 22, the first individual pen absolute value encoder 23 and the second individual pen absolute value encoder
24, in the present embodiment, the first drive 21 uses internal gear, and the second drive 22 uses external gear, and the second drive 22 is set
It is connected in the first drive 21 and with the first drive 21, the diameter of the first drive 21 is more than the straight of the second drive 22
Footpath, and the number of teeth of the first drive 21 is more than the number of teeth of the second drive 22.
First individual pen absolute value encoder 23 is connected with the first drive 21 and rotated with same rotational speed, and the first individual pen is absolute
Value encoder 23 is located on the first side, and the second individual pen absolute value encoder 24 is connected with the second drive 22 and turned with same rotational speed
Dynamic, the second individual pen absolute value encoder 24 is located on the second side of dorsal part, and the connection of individual pen absolute value encoder and drive is
Pass through coaxial connection.
Multi-turn absolute value encoder 3rd embodiment：
Reference picture 4, Fig. 4 are the structure charts of multi-turn absolute value encoder 3rd embodiment, and multi-turn absolute value encoder 3 includes first
Drive 31, the second drive 32, the first individual pen absolute value encoder 33 and the second individual pen absolute value encoder 34, the present embodiment
In, the first drive 31 and the second drive 32 use synchronous pulley, lead between the first drive 31 and the second drive 32
Conveyer belt 35 or transmission chain link are crossed, the diameter of the first drive 31 is more than the diameter of the second drive 32, and the first drive
31 number of teeth is more than the number of teeth of the second drive 32.
First individual pen absolute value encoder 33 is connected with the first drive 31 and rotated with same rotational speed, and the second individual pen is absolute
Value encoder 34 is connected with the second drive 32 and rotated with same rotational speed, and the connection of individual pen absolute value encoder and drive is
Pass through coaxial connection.
Multi-turn absolute value encoder fourth embodiment：
Reference picture 5, Fig. 5 are the structure charts of multi-turn absolute value encoder fourth embodiment, and multi-turn absolute value encoder 4 includes first
Drive 41, the second drive 42, the first individual pen absolute value encoder 43 and the second individual pen absolute value encoder 44, the present embodiment
In, 42 equal external gear of the first drive 41 and the second drive, pass through transmission between the first drive 41 and the second drive 42
Gear 45 connects, and the diameter of the first drive 41 is more than the diameter of the second drive 42, and the number of teeth of the first drive 41 is more than
The number of teeth of second drive 42.
First individual pen absolute value encoder 43 is connected with the first drive 41 and rotated with same rotational speed, and the second individual pen is absolute
Value encoder 44 is connected with the second drive 42 and rotated with same rotational speed, and the connection of individual pen absolute value encoder and drive is
Pass through coaxial connection.
The embodiment of multi-turn absolute value encoder the 5th：
Based on above-mentioned structure and principle, the first driving wheel of multi-turn absolute value encoder can also use internal gear, and second drives
Driving wheel uses external gear, and the first driving wheel and the second driving wheel are connected by Cycloidal pin-wheel drive mode, Cycloidal pin-wheel drive
Refer to that by the flank profil of external gear be abnormal cycloid, internal gear teeth is made up of a pair of the inside engaged gears and output mechanism of round pin
Planetary Gear Transmission.The purpose of the present invention is also that by by the 5th embodiment.
Multi-turn absolute value encoder sixth embodiment：
Based on above-mentioned structure and principle, the first driving wheel of multi-turn absolute value encoder can also use internal gear, and second drives
Driving wheel uses external gear, and the first driving wheel and the second driving force can be also attached using harmonic drive mode.
Drive device first embodiment：
Drive device includes motor, processor and multi-turn absolute value encoder for controlling the motor, multi-turn
Absolute value encoder can use multi-turn absolute value encoder any in above-described embodiment, and in the present embodiment, this multi-turn is absolute
Drive in value encoder can also serve as transmission mechanism use, and above-mentioned multi-turn absolute value encoder is respectively provided with different be applicable and passed
Dynamic ratio, is adapted to different fields of employment, and motor is connected with the first driving wheel or the second driving wheel, the output end of drive device and
First driving wheel or the connection of the second driving wheel, can be selected according to the actual requirements.
First individual pen absolute value encoder and the second individual pen absolute value encoder are connected with processor respectively, and respectively to place
Manage device and export respective encoded signal.
Embodiment for the control method of multi-turn absolute value encoder：
The control method of the present embodiment is applied to above-mentioned multi-turn absolute value encoder and drive device, i.e. this control method can be
Realized on multi-turn absolute value encoder, as long as being equipped with corresponding processor and memory in multi-turn absolute value encoder,
This control method can also be realized on the drive means.
Particularly referring to Fig. 6, control method includes：
Step S1 is first carried out, by inputting and making processor to obtain the tooth number Z 1 of first gear, and the tooth number Z 2 of second gear,
Number of teeth difference Dz=Z1-Z2 of first gear and second gear can then be calculated.Individual pen absolute value encoder is also obtained simultaneously
Resolution ratio M, in the present embodiment, the resolution ratio M of two individual pen absolute value encoders are identical, can use not phase in actual applications
The encoder of same resolution ratio.
Step S2 is then performed, the number of teeth obtained between the first driving wheel and the second driving wheel is poor, and in the first driving
When wheel and the second driving wheel rotate, it can be obtained by the first individual pen absolute value encoder and the second individual pen absolute value encoder
Take the first individual pen corner a of the first driving wheel and the second individual pen corner b of the second driving wheel.
Then step S3 is performed, calculates outer corner difference Da=b-a of the first individual pen corner and the second individual pen corner, it is preferable that
When calculating Da, when Da is less than-M ÷ 2, then the cumulative upper resolution ratio M of Da use as Da for follow-up calculate.
Step S4 is then performed, according to resolution ratio, the number of teeth of outer corner difference, the second individual pen absolute value encoder be poor, the second tooth
The turnning circle Nb of the Tooth Number Calculation second gear of wheel, specifically, calculated, rotated by formula Nb=Da ÷ ((M × Dz) ÷ Z2)
Number of turns Nb then needs to carry out rounding calculating, such as Nb=Da ÷ ((M × Dz) ÷ Z2)=4.9, then Nb=4.
Step S5 is finally performed, the multi-turn of second gear is calculated according to the turnning circle of second gear and the second individual pen corner
Corner, the multi-turn corner of the present embodiment represent that is, multi-turn corner is Nb × M+b using the numerical value of encoder.
It is similar, the multi-turn corner of first gear can also be calculated.It should be noted that the corner in the present embodiment refers to list
Absolute value encoder signal output is enclosed directly or through numerical value corresponding to skew, scale operation, multi-turn corner is that drive is corresponding
Export multi-turn directly or through skew, numerical value corresponding to scale operation.
Computer-readable recording medium embodiment：
Computer program is stored with computer-readable storage medium, such as above-mentioned controlling party is realized when computer program is executed by processor
The step of method.
The embodiment of multi-turn absolute value encoder the 7th：
Multi-turn absolute value encoder includes processor and memory, and processor is used to perform the computer program stored in memory
The step of Shi Shixian such as above-mentioned control methods.
Drive device second embodiment：
Drive device includes motor, processor and memory for controlling the motor, it is characterised in that：Processing
The step of device is used to realize above-mentioned control method when performing the computer program stored in memory.
It should be noted that the computer of this case can be desktop PC, notebook, palm PC and cloud service
The computing devices such as device, computer also may include, but be not limited only to, processor, memory.
Alleged processor can be CPU (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic device
Part, discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processing
Device etc., the processor are the control centres of the multi-turn absolute value encoder and drive device, utilize various interfaces and circuit
Connect whole multi-turn absolute value encoder, the various pieces of drive device.
The memory can be used for storing the computer program and/or module, and the processor is by running or performing
The computer program and/or module being stored in the memory, and the data being stored in memory are called, described in realization
The various functions of multi-turn absolute value encoder and drive device.The memory can mainly include storing program area and data storage
Area.In addition, memory can include high-speed random access memory, nonvolatile memory can also be included, for example, it is hard disk, interior
Deposit, plug-in type hard disk, intelligent memory card（Smart Media Card, SMC）, secure digital（Secure Digital, SD）
Card, flash card（Flash Card）, at least one disk memory, flush memory device or other volatile solid-state parts.
In addition, the computer program includes computer program code, the computer program code can be source code
Form, object identification code form, executable file or some intermediate forms etc..The computer-readable medium can include：Can
Carry any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, the computer of the computer program code
Memory, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access
Memory）, electric carrier signal, telecommunication signal and software distribution medium etc..
Therefore by individual pen absolute value encoder simple in construction respectively to the first drive and the second drive
Rotational angle is detected, while the diameter of the first drive and the second drive is arranged to differ, by outer corner difference and
The multi-turn corner of drive can be calculated in diameter difference, that is, realizes absolute by two simple in construction, lower-cost individual pens
It is worth encoder, forms overall structure also relatively simple multi-turn absolute value encoder, realizes the record of multi-turn corner.
Claims (10)
1. multi-turn absolute value encoder, it is characterised in that including：
First drive；
Second drive, the diameter of first drive are more than the diameter of second drive, first drive with
The second drive connection；
First individual pen absolute value encoder, the first individual pen absolute value encoder connect with first drive and with identical
Rotational speed；
Second individual pen absolute value encoder, the second individual pen absolute value encoder connect with second drive and with identical
Rotational speed.
2. multi-turn absolute value encoder according to claim 1, it is characterised in that：
The first individual pen absolute value encoder passes through coaxial connection with first drive；
Or the first individual pen absolute value encoder is connected with first drive by shaft coupling.
3. multi-turn absolute value encoder according to claim 1, it is characterised in that：
Second individual pen absolute value encoder connection coaxial with second drive；
Or the second individual pen absolute value encoder is connected with second drive by shaft coupling.
4. according to the multi-turn absolute value encoder described in claim any one of 1-3, it is characterised in that：
First drive is internal gear, and second drive is external gear；
First drive engages with second drive,
Or first drive is connected with second drive by Cycloidal pin-wheel drive mode.
5. according to the multi-turn absolute value encoder described in claim any one of 1-3, it is characterised in that：
First drive and second drive are external gear；
First drive and second drive engagement；
Or first drive is connected with second drive by conveyer belt, conveyer chain or gear.
6. drive device, including motor and the processor for controlling the motor, it is characterised in that：
The drive device also includes multi-turn absolute value encoder, and the multi-turn absolute value encoder uses the claims 1-
Multi-turn absolute value encoder described in 5 any one；
The motor is connected with first driving wheel or second driving wheel；
The output end of the drive device is connected with first driving wheel or second driving wheel；
The first individual pen absolute value encoder and the second individual pen absolute value encoder are connected with the processor respectively.
7. a kind of control method for multi-turn absolute value encoder, it is characterised in that the multi-turn absolute value encoder uses
Multi-turn absolute value encoder described in the claims any one of 1-5；
The control method includes：
The first individual pen for obtaining poor, described first driving wheel of the number of teeth between first driving wheel and second driving wheel turns
Angle and the second individual pen corner of second driving wheel；
Calculate the outer corner difference of the first individual pen corner and the second individual pen corner；
According to resolution ratio, the number of teeth of the outer corner difference, the second individual pen absolute value encoder be poor, described in Tooth Number Calculation of second gear
The turnning circle of second gear；
The multi-turn corner of second gear is calculated according to the turnning circle of the second gear and the second individual pen corner.
8. a kind of computer-readable recording medium, computer program is stored with the storage medium, it is characterised in that：
The step of computer program realizes control method as claimed in claim 7 when being executed by processor.
9. multi-turn absolute value encoder, the multi-turn absolute value encoder includes processor and memory, it is characterised in that：
The processor is used to realize controlling party as claimed in claim 7 when performing the computer program stored in the memory
The step of method.
10. drive device, including motor, processor and memory for controlling the motor, it is characterised in that：
The processor is used to realize controlling party as claimed in claim 7 when performing the computer program stored in the memory
The step of method.
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