CN111829561A - Angle detection device - Google Patents
Angle detection device Download PDFInfo
- Publication number
- CN111829561A CN111829561A CN202010626669.7A CN202010626669A CN111829561A CN 111829561 A CN111829561 A CN 111829561A CN 202010626669 A CN202010626669 A CN 202010626669A CN 111829561 A CN111829561 A CN 111829561A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- rotating
- rotating part
- groups
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 239000000696 magnetic material Substances 0.000 claims description 11
- 230000007423 decrease Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 16
- 230000003247 decreasing effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The embodiment of the invention provides an angle detection device, which comprises a fixed part and a rotating part, wherein the fixed part is fixed on the fixed part; the length direction of the fixed part is parallel to the rotating axial direction of the rotating part, and the rotating part can rotate along the circumferential direction of the rotating part relative to the fixed part; x detection elements are arranged on the surface, facing the rotating part, of the fixed part at intervals along the length direction of the fixed part, wherein X is an integer greater than or equal to 1; along the circumferential direction of the rotating part, X-power magnetic part groups of 2 are arranged on the rotating part at intervals; each magnetic piece group comprises X magnetic pieces; x magnetic pieces in each magnetic piece group are arranged at intervals along the length of the rotating piece, and each magnetic piece corresponds to different detection element positions; the polarity combinations of the magnetic members in different magnetic member groups are different. According to the technical scheme provided by the embodiment of the invention, the detection of the preset angle of the rotation of the rotating member is realized by detecting the polarity combination of each magnetic member in different magnetic member groups, and the preset angle can be set by changing different arrangement modes of the magnetic member groups.
Description
Technical Field
The invention relates to the technical field of mechanical detection, in particular to an angle detection device.
Background
In the application scene of detecting the preset specific rotation angle of the rotating body, the detection purpose can be realized by sensors such as a magnetic encoder, a photoelectric encoder, a rotary transformer and the like.
However, the sensors used at present have limitations in use, for example, the magnetic encoder can only be placed at the shaft end of the rotating body for measurement, and has limitations in selection of installation positions and a small application range.
Disclosure of Invention
In view of the above problems, embodiments of the present invention have been made to provide a new angle detecting device, which detects a predetermined specific rotation angle of a rotating body in another new manner to improve the application range.
In one embodiment of the present invention, there is provided an angle detection apparatus including: a fixed member and a rotating member; the length direction of the fixed part is parallel to the rotating axial direction of the rotating part, and the rotating part can rotate relative to the fixed part along the circumferential direction of the rotating part;
the surface of the fixed part facing the rotating part is provided with X detection elements at intervals along the length direction of the fixed part, wherein X is an integer greater than or equal to 1;
along the circumferential direction of the rotating part, X-power magnetic element groups of 2 are arranged on the rotating part at intervals; each magnetic piece group comprises X magnetic pieces; x magnetic pieces in each magnetic piece group are arranged at intervals along the length of the rotating piece, and each magnetic piece corresponds to different detection element positions; the polarity combinations of the magnetic members in different magnetic member groups are different.
Optionally, along the length direction of the fixing part, X detection elements are spaced on the same straight line;
along the length direction of the rotating part, X magnetic parts in each magnetic part group are arranged on the same straight line at intervals.
Optionally, a circuit board is arranged on the fixing member, and X detection elements are integrated on the circuit board and connected with the fixing member through the circuit board.
Optionally, the fixing member is a cylindrical structure, and X detecting elements are arranged on the inner surface of the fixing member;
the rotating part is of a columnar structure, the rotating part is sleeved in the fixing part, and the magnetic parts are assembled on the outer surface of the rotating part.
Optionally, the detection element protrudes from the inner surface of the fixing piece; or
The end face of the sensing end of the detection element is flush with the inner surface of the fixing piece.
Optionally, the magnetic element protrudes from the outer surface of the rotating element; or
The end face of the magnetic pole of the magnetic part is flush with the outer surface of the rotating part.
Optionally, the fixing member is a columnar structure, and X detection elements are arranged on the outer surface of the fixing member;
the rotating part is of a cylindrical structure, the rotating part is sleeved outside the fixing part, and the magnetic parts are assembled on the inner surface of the rotating part.
Optionally, the magnetic material groups are uniformly distributed on the rotating member by the power X of 2 in the circumferential direction of the rotating member.
Optionally, one of the magnetic material groups of the power X of 2 is a reference group;
and with the reference group as an initial position, the rotation angle between two adjacent magnetic groups gradually increases or decreases along one circle of the circumferential direction of the rotating member.
Alternatively, the rotation angle between two adjacent magnetic material groups becomes larger or smaller by a larger magnitude.
Further, optionally, the detection element comprises a hall element.
According to the technical scheme provided by the embodiment of the invention, the fixed part is fixed relative to the rotating part, the detection element is arranged on the surface of the fixed part facing the rotating part, the length of the fixed part and the length of the rotating part are avoided being increased, the overall length of the angle detection device can be effectively controlled, the limitation of the installation space is reduced, and the angle detection device can be suitable for more installation positions. In addition, the detection of the preset angle of the rotation of the rotating part can be realized by detecting the polarity combination of each magnetic part in different magnetic part groups, the preset angle can be set according to different requirements by changing different arrangement modes of the magnetic part groups, and the application range is wide.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another angle detection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention, and is shown in fig. 1.
In one embodiment of the present invention, there is provided an angle detection apparatus including: a fixed member 10 and a rotating member 20. The length direction of the fixed member 10 is parallel to the rotation axis direction of the rotating member 20, and the rotating member 20 can rotate relative to the fixed member 10 along the circumferential direction of the rotating member 20.
Wherein, along the length direction of the fixed part 10, X detecting elements 11 are arranged on the surface of the fixed part 10 facing the rotating part 20 at intervals, and X is an integer greater than or equal to 1.
In the circumferential direction of the rotating member 20, the rotating member 20 is provided with 2 magnetic member groups 21 of the power of X at intervals; each magnetic member group 21 includes X magnetic members 22; the X magnetic members 22 in each magnetic member group 21 are arranged at intervals along the length of the rotating member 20, and each magnetic member 22 corresponds to a different position of the detecting element 11; the polarity combinations of the magnetic members 22 in different magnetic member groups 21 are different.
For example, the detecting element 11 can determine the preset angle of rotation of the rotating member 20 by detecting the polarity combination of the magnetic members 22 in each magnetic member group 21. The number of the preset angles may be determined according to the number of the magnetic groups 21, for example, if the magnetic groups 21 are X times of 2, then the number of the preset angles is X times of 2.
Taking X as 3 for example, the number of the magnetic groups 21 is 3 to the power of 2, that is, 23The 8 magnetic element groups 21 are distributed along the circumference of the rotor 20, i.e. the rotor 20 is divided into eight angles in the circumference direction, and if the 8 magnetic element groups 21 are distributed uniformly, the rotor 20 is divided into eight angles in the circumference direction, each angle being 360 °/8 — 45 °. Each magnetic group 21 includes X magnetic elementsThe magnetic members 22, i.e. each magnetic member group 21 includes 3 magnetic members 22, and the total of 24 magnetic members 22 is needed for 8 magnetic member groups 21.
The polarity combinations of the 3 magnetic members 22 in different magnetic member groups 21 are different so as to distinguish different magnetic member groups 21, for example, the polarity N of the magnet member recognized by the detecting element 11 is 1, the polarity S is 0, and the magnetic combinations of the 3 magnetic members 22 in different magnetic member groups 21 detected by the 3 detecting elements 11 can be 000, 001, 011, 010, 110, 111, 101, 100, each of which represents an angular position signal, i.e., each of which represents an angular position, for example, the polarity combination is set to be 0 °, 001 is 45 °, 011 is 90 °, and the like 100 is 315 °. The set angle value is determined by the actual position of each magnetic member 22 in each magnetic member group 21.
When the rotating part 20 rotates relative to the fixed part 10 and rotates at different angles, each magnetic member group 21 respectively faces to the position of the detecting element 11, and when the different magnetic member group 21 faces to the position of the detecting element 11, the detecting element 11 can detect the angular position indicated by the polarity combination of each magnetic member 22 in the different magnetic member group 21, that is, the angular position of the rotating part 20 can be detected. If the angular position signal detected by 3 detecting elements 11 is 000, it indicates that the rotating member 20 rotates 0 ° with respect to the fixed member 10, and if the angular position signal detected by 3 detecting elements 11 is 001, it indicates that the rotating member 20 rotates 45 ° with respect to the fixed member 10, and so on.
It should be noted that the polarity combinations of the magnetic members 22 in each magnetic member group 21 may represent different angular positions according to different requirements, for example, the magnetic combination manner may be 000, 001, 011, 010, 110, 111, 101, 100, or may be in other orders, and the sequence may be in other orders, only the polarity of the magnetic members 22 in adjacent rows can be changed by one, otherwise, if one of the magnetic members 22 is detected first, the detection data may be inaccurate, or the erroneous determination of the same angle may occur, which affects the detection result.
In the embodiment of the present invention, the X detecting elements 11 may be arranged in a straight line, and the X detecting elements 11 are spaced on the same straight line along the length direction of the fixing member 10, that is, the X detecting elements 11 are spaced on the same straight line along the length direction of the fixing member 10 on the surface of the fixing member 10 facing the rotating member 20. Accordingly, the X magnetic members 22 in each magnetic member group 21 are arranged on the same straight line at intervals along the length direction of the rotating member 20, so that the X detecting elements 11 and the X magnetic members 22 in the same magnetic member group 21 correspond in position to each other. Alternatively, the X detecting elements 11 may not be located on the same straight line, and may be arranged in other forms, such as being arranged in a curve, and correspondingly, the X magnetic members 22 in each magnetic member group 21 are also arranged in a curve, so that the X detecting elements 11 and the X magnetic members 22 in the same magnetic member group 21 are mutually corresponding in position.
In the technical scheme provided by the embodiment of the invention, the fixed part 10 is fixed relative to the rotating part 20, the detection element 11 is arranged on the surface of the fixed part 10 facing the rotating part 20, the increase of the lengths of the fixed part 10 and the rotating part 20 is avoided, the integral length of the angle detection device can be effectively controlled, the limitation of smaller installation space is realized, and the angle detection device can be suitable for more installation positions. In addition, the detection of the preset angle of rotation of the rotating part 20 can be realized by detecting the polarity combination of each magnetic part 22 in different magnetic part groups 21, the preset angle can be set according to different requirements by changing different arrangement modes of the magnetic part groups 21, and the application range is wide.
Further, with continued reference to fig. 1, in an embodiment of the present invention, a circuit board 12 is disposed on the fixing member 10, and the X detecting elements 11 are integrated on the circuit board 12 and connected to the fixing member 10 through the circuit board 12. The Circuit Board 12 includes but is not limited to be a PCB (Printed Circuit Board) Board, can be integrated as an organic whole with X detecting element 11 through Circuit Board 12, makes things convenient for the installation of X detecting element 11, also can guarantee that X detecting element 11 is located same horizontal plane through Circuit Board 12, guarantees the uniformity and the accuracy of detection. Meanwhile, the X detection elements 11 can realize signal transmission through the circuit board 12, reduce noise and signal attenuation of signals and ensure the accuracy of signal transmission.
Further, in order to process the signal, in the embodiment of the present invention, a processing unit is further disposed on the circuit board 12, and the processing unit is respectively in communication connection with the X detecting elements 11. The processing unit includes but is not limited to a single chip, and the processing unit can receive the detection signals sent by the X detecting elements 11, and then determine the polarity combination of each magnetic member 22 in the current magnetic member group 21 according to the detection, so as to determine the angle represented by the current magnetic member group 21, that is, detect the angle of rotation of the rotating member 20 relative to the fixed member 10.
In the embodiment of the present invention, the fixed member 10 and the rotating member 20 can be implemented in various ways, and can be configured according to different requirements to meet different application scenarios. Referring to fig. 1, in one implementation, the fixture 10 is a cylindrical structure (the fixture 10 shown in fig. 1 is only partially), and X sensing elements 11 are disposed on an inner surface of the fixture 10. The rotating part 20 is a cylindrical structure, the rotating part 20 is sleeved in the fixed part 10, and each magnetic part group 21 is arranged on the outer surface of the rotating part 20. The rotating part 20 is sleeved in the fixed part 10, and the fixed part 10 is fixed relative to the rotating part 20. The detection element 11 is arranged on the inner surface of the fixing member 10, i.e. on the inner side of the cylindrical structure. The magnetic element group 21 is provided on the outer surface of the rotor 20, i.e., on the outer side of the cylindrical structure. Different from the scheme that the detection sensor is arranged on the end face of the rotating body, the detection element 11 and the magnetic part 22 do not need to occupy the end face space of the fixed part 10 and the rotating part 20, the length of the fixed part 10 and the length of the rotating part 20 can be prevented from being increased, the overall length of the angle detection device can be effectively controlled, the limitation of the installation space is reduced, and the angle detection device can be suitable for more installation positions.
Further, the arrangement of the detecting element 11 relative to the fixing member 10 includes various ways, and one way to realize that the detecting element 11 protrudes from the inner surface of the fixing member 10, such arrangement can make the detecting element 11 closer to the magnetic member 22, so that the detection is more sensitive and more accurate. Alternatively, the end face of the sensing end of the sensing element 11 is flush with the inner surface of the fixing member 10. Set up the mounting groove on the internal surface of mounting 10, detecting element 11 sets up in the mounting groove, and detecting element 11 does not bulge in the internal surface of mounting 10, and detecting element 11 can not additionally increase installation space like this, can not increase the thickness of mounting 10 for the whole shared space of mounting 10 is less, and then makes angle detection device volume less. Of course, the detecting element 11 may be lower than the inner surface of the fixing member 10 according to different requirements.
Further, the arrangement of the magnetic element 22 relative to the rotating element 20 also includes various ways, and one way to realize that the magnetic element 22 protrudes from the outer surface of the rotating element 20 can make the magnetic element 22 closer to the detecting element 11, so that the detection is more sensitive and more accurate. Alternatively, the end faces of the poles of the magnetic member 22 are flush with the outer surface of the rotating member 20. Set up the fixed slot on the surface of rotating piece 20, magnetism piece 22 sets up in the fixed slot, and magnetism piece 22 does not bulge in the surface of rotating piece 20, and magnetism piece 22 can not additionally increase installation space like this, can not increase the thickness of rotating piece 20 for it is thinner to rotate piece 20, and whole shared space is less, and then makes angle detection device volume less. Of course, the magnetic member 22 may be lower than the outer surface of the rotating member 20 according to different requirements.
It should be noted that, the arrangement of the detecting element 11 with respect to the fixed element 10 and the arrangement of the magnetic element 22 with respect to the rotating element 20 may be implemented independently or in combination, for example, when the detecting element 11 is disposed to protrude from the inner surface of the fixed element 10, the magnetic element 22 may protrude from the outer surface of the rotating element 20, or the magnetic element 22 may be disposed flush with the outer surface of the rotating element 20. When the detecting element 11 is disposed flush with the inner surface of the fixed member 10, the magnetic member 22 may be disposed to protrude from the outer surface of the rotating member 20, or the magnetic member 22 may be disposed flush with the outer surface of the rotating member 20. Still alternatively, the detecting element 11 may partially protrude from the inner surface of the fixed element 10, and the magnetic element 22 may partially protrude from the outer surface of the rotating element 20, and the arrangement manner may be correspondingly arranged according to different detection requirements, which is not specifically limited in the embodiments of the present invention and will not be described in detail.
Further, in order to achieve various installation manners of the rotating element 20, in the embodiment of the present invention, when the fixed element 10 is a cylindrical structure, the rotating element 20 may be a solid structure, i.e., a solid column structure, or a hollow structure, i.e., the rotating element 20 is a hollow column structure, which may also be referred to as a cylindrical structure. When the rotating member 20 is a cylindrical structure, it can be sleeved on an external device through the inner cavity of the cylindrical structure.
In the embodiment of the present invention, in addition to the implementation manner in which the fixed member 10 is a cylindrical structure and the rotating member 20 is a cylindrical structure, referring to fig. 2, the fixed member 10 is a cylindrical structure, and X detecting elements 11 are disposed on the outer surface of the fixed member 10. The rotating member 20 is a cylindrical structure, the rotating member 20 is sleeved outside the fixed member 10, and each magnetic member group 21 is provided on the inner surface of the rotating member 20. The rotating part 20 is sleeved outside the fixed part 10, and the fixed part 10 is fixed relative to the rotating part 20. The detection element 11 is arranged on the outer surface of the fixing member 10, i.e. on the outer side of the columnar structure. The magnetic element group 21 is provided on the inner surface of the rotor 20, i.e., on the inner side surface of the cylindrical structure. The detecting element 11 and the magnetic element 22 do not need to occupy the end face space of the fixed part 10 and the rotating part 20, the length of the fixed part 10 and the rotating part 20 can be prevented from being increased, the overall length of the angle detecting device can be effectively controlled, the limitation of the installation space is reduced, and the angle detecting device can be suitable for more installation positions.
Correspondingly, the arrangement mode of the detecting element 11 relative to the fixing member 10 also includes that the detecting element 11 protrudes out of the outer surface of the fixing member 10, or the end surface of the sensing end of the detecting element 11 is flush with the outer surface of the fixing member 10. Of course, the detecting element 11 may be lower than the outer surface of the fixing member 10 according to different requirements. The magnetic element 22 is disposed relative to the rotating element 20 in a manner that the magnetic element 22 protrudes from the inner surface of the rotating element 20, or the end surface of the magnetic pole of the magnetic element 22 is flush with the inner surface of the rotating element 20. Of course, the magnetic member 22 may be lower than the inner surface of the rotating member 20 according to different requirements.
Further, in order to achieve various installation modes of the fixing element 10, in the embodiment of the present invention, when the rotating element 20 is of a cylindrical structure, the fixing element 10 may be of a solid structure, i.e., a solid column structure, or a hollow structure, i.e., the fixing element 10 is of a hollow column structure, which may also be referred to as a cylindrical structure. When the fixing member 10 is a cylindrical structure, it can be sleeved on an external device through an inner cavity of the cylindrical structure.
In the embodiment of the present invention, when the magnetic material groups 21 are distributed along the circumferential direction of the rotor 20, they can be uniformly distributed, i.e., the rotor 20 is uniformly divided into X-th power angles of 2 along the circumferential direction. The rotating member 20 may be unevenly distributed, and may be divided into X-power angles of 2 in a circumferential direction in an increasing or decreasing manner. The set angle is determined by the actual position of each magnetic element group 21.
In one way, the X-th power magnetic element groups 21 of 2 are distributed uniformly on the rotor 20 in the circumferential direction of the rotor 20. Taking X as 3 for example, the number of the magnetic groups 21 is 3 to the power of 2, that is, 23The 8 magnetic element groups 21 are distributed along the circumference of the rotor 20, i.e. the rotor 20 is divided into eight angles, each of which is 360 °/8 — 45 °. Each magnetic element group 21 includes X magnetic elements 22, that is, each magnetic element group 21 includes 3 magnetic elements 22, and 24 magnetic element groups 21 are needed for 8 magnetic element groups 21.
The polarity combinations of the 3 magnetic elements 22 within each magnetic element group 21 are different in order to distinguish between different magnetic element groups 21, different magnetic element groups 21 representing different angles. As in table 1 below:
it should be noted that the division of the angles and the arrangement sequence of the polarities of the magnetic elements 22 shown in table 1 are only illustrative and are not meant to be restrictive in the embodiments of the present invention, and the arrangement sequence of the polarities of the magnetic elements 22 may be other sequences, which are not described in detail herein.
When the rotating member 20 rotates relative to the fixed member 10, each magnetic member group 21 is opposite to the detecting element 11, and when a different magnetic member group 21 is opposite to the detecting element 11, the detecting element 11 can detect the angular position indicated by the different polarity combinations of the magnetic members 22 in the different magnetic member groups 21, that is, the angular position of the rotating member 20 can be detected. If the angular position signal detected by 3 detecting elements 11 is 000, it indicates that the rotating member 20 rotates 0 ° with respect to the fixed member 10, and if the angular position signal detected by 3 detecting elements 11 is 001, it indicates that the rotating member 20 rotates 45 ° with respect to the fixed member 10, and so on.
Another arrangement of the magnetic material groups 21 is such that one magnetic material group 21 of the X-power magnetic material groups 21 of 2 is a reference group. The rotation angle between two adjacent magnetic element groups 21 is gradually increased or decreased along one rotation of the rotor 20 in the circumferential direction with the reference group as the initial position.
Also taking X as 3 for example, the number of the magnetic element groups 21 is 3 to the power of 2, i.e. 23The 8 magnetic element groups 21 are distributed along the circumferential direction of the rotor 20, that is, the rotor 20 is divided into eight angles, and each angle is gradually increased or decreased. Taking the magnetic member group 21 with the polarity of the magnetic members 22 of 000 combinations as a reference group and the angles are increased progressively, the polarity combinations of the 3 magnetic members 22 in each magnetic member group 21 are different so as to distinguish different magnetic member groups 21, and different magnetic member groups 21 represent different angles. As in table 2 below:
it should be noted that the division of the angles and the arrangement sequence of the polarities of the magnetic elements 22 shown in table 2 are only illustrative and are not meant to be restrictive in the embodiments of the present invention, and the arrangement sequence of the polarities of the magnetic elements 22 may be other sequences, which are not described in detail herein.
When the angular position signal detected by the 3 detecting elements 11 is 000, it indicates that the rotating member 20 rotates 0 ° with respect to the fixed member 10, and when the angular position signal detected by the 3 detecting elements 11 is 001, it indicates that the rotating member 20 rotates 10 ° with respect to the fixed member 10, and so on.
The angle between each magnetic group 21 can be increased or decreased by any number of degrees according to different requirements, or can be increased or decreased according to a certain rule, for example, the rotation angle between two adjacent magnetic groups 21 is increased or decreased by a gradually increasing range. In incremental terms, as shown in Table 3 below:
in table 3, the larger the rotation angles between the adjacent two magnetic material groups 21 from the reference group are 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, and 70 °, respectively, the angles can be more easily detected.
It should be noted that the division of the angles and the polarity arrangement sequence of the magnetic elements 22 shown in table 3 are only illustrative and are not meant to be restrictive in the embodiments of the present invention, and the polarity arrangement sequence of the magnetic elements 22 may be other sequences, which are not described in detail herein.
In the embodiment of the present invention, the implementation manner of the detecting element 11 includes multiple, and one implementation manner of the detecting element 11 is that the detecting element 11 includes, but is not limited to, a hall element. The detection element 11 is a hall element. The magnetic member 22 includes, but is not limited to, a permanent magnet such as a magnet, magnetic steel, etc. Hall element has sound construction, and is small, light in weight, simple to operate, and the consumption is little, advantages such as resistant vibrations, Hall element and magnet cooperate the detection, and sensitivity is high, can be so that more accurate when detecting the turned angle that rotates piece 20.
It should be noted that the angle detection device provided by the embodiment of the present invention can be applied to a torque sensor, and can also be applied to other devices requiring angle position detection, such as a motor.
In summary, according to the technical solution provided by the embodiment of the present invention, the fixing element is fixed relative to the rotating element, and the detecting element is disposed on the surface of the fixing element facing the rotating element, so as to avoid increasing the lengths of the fixing element and the rotating element, that is, to effectively control the overall length of the angle detecting device, and reduce the limitation of the installation space, so that the angle detecting device can be applied to more installation positions. In addition, the detection of the preset angle of the rotation of the rotating part can be realized by detecting the polarity combination of each magnetic part in different magnetic part groups, the preset angle can be set according to different requirements by changing different arrangement modes of the magnetic part groups, and the application range is wide.
It should be noted that, although the specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limited to the scope of the present invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the present invention as described in the appended claims.
The examples of the embodiments of the present invention are intended to briefly describe the technical features of the embodiments of the present invention, so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and the embodiments of the present invention are not unduly limited.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. An angle detecting device, characterized by comprising: a fixed member and a rotating member; the length direction of the fixed part is parallel to the rotating axial direction of the rotating part, and the rotating part can rotate relative to the fixed part along the circumferential direction of the rotating part;
the surface of the fixed part facing the rotating part is provided with X detection elements at intervals along the length direction of the fixed part, wherein X is an integer greater than or equal to 1;
along the circumferential direction of the rotating part, X-power magnetic element groups of 2 are arranged on the rotating part at intervals; each magnetic piece group comprises X magnetic pieces; x magnetic pieces in each magnetic piece group are arranged at intervals along the length of the rotating piece, and each magnetic piece corresponds to different detection element positions; the polarity combinations of the magnetic members in different magnetic member groups are different.
2. The angle detecting device of claim 1, wherein X number of the detecting elements are spaced on the same straight line along the length direction of the fixing member;
along the length direction of the rotating part, X magnetic parts in each magnetic part group are arranged on the same straight line at intervals.
3. The angle detecting apparatus according to claim 1, wherein a circuit board is disposed on the fixing member, and X detecting elements are integrated on the circuit board and connected to the fixing member through the circuit board.
4. The angle detecting device according to claim 1, wherein the fixed member is a cylindrical structure, and X number of the detecting elements are provided on an inner surface of the fixed member;
the rotating part is of a columnar structure, the rotating part is sleeved in the fixing part, and the magnetic parts are assembled on the outer surface of the rotating part.
5. The angle sensing device of claim 4, wherein the sensing element protrudes from an inner surface of the fixing member; or
The end face of the sensing end of the detection element is flush with the inner surface of the fixing piece.
6. The angle detecting device of claim 4, wherein the magnetic member protrudes from an outer surface of the rotating member; or
The end face of the magnetic pole of the magnetic part is flush with the outer surface of the rotating part.
7. The angle detecting device according to claim 1, wherein the fixing member is a columnar structure, and X number of the detecting elements are provided on an outer surface of the fixing member;
the rotating part is of a cylindrical structure, the rotating part is sleeved outside the fixing part, and the magnetic parts are assembled on the inner surface of the rotating part.
8. The angle detecting device according to any one of claims 1 to 7, wherein the magnetic material groups of powers X of 2 are uniformly distributed on the rotating member in a circumferential direction of the rotating member.
9. The angle detecting device according to any one of claims 1 to 7, wherein one of the magnetic material groups of powers X of 2 is a reference group;
and with the reference group as an initial position, the rotation angle between two adjacent magnetic groups gradually increases or decreases along one circle of the circumferential direction of the rotating member.
10. The angle detecting apparatus according to claim 9, wherein the rotation angle between adjacent two of the magnetic material groups becomes larger or smaller by a gradually larger magnitude.
11. The angle detecting device according to any one of claims 1 to 7, characterized in that the detecting element includes a Hall element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626669.7A CN111829561A (en) | 2020-07-01 | 2020-07-01 | Angle detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626669.7A CN111829561A (en) | 2020-07-01 | 2020-07-01 | Angle detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111829561A true CN111829561A (en) | 2020-10-27 |
Family
ID=72901043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010626669.7A Pending CN111829561A (en) | 2020-07-01 | 2020-07-01 | Angle detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111829561A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000065596A (en) * | 1998-08-20 | 2000-03-03 | Yaskawa Electric Corp | Magnetic encoder |
| US20040083823A1 (en) * | 2002-10-28 | 2004-05-06 | Koyo Seiko Co., Ltd. | Rotation angle detecting device, torque detecting device and method of manufacturing the same |
| US6762897B1 (en) * | 1997-09-08 | 2004-07-13 | Kabushiki Kaisha Yaskawa Denki | Magnetic encoder apparatus |
| CN1789903A (en) * | 2002-04-15 | 2006-06-21 | 本田技研工业株式会社 | Pulse generator integrated with rotor angle sensor |
| CN101115981A (en) * | 2005-02-10 | 2008-01-30 | 松下电器产业株式会社 | Rotation angle and torque detection device |
| JP2009192263A (en) * | 2008-02-12 | 2009-08-27 | Denso Corp | Rotation detection device |
| CN102472607A (en) * | 2009-06-30 | 2012-05-23 | Ntn株式会社 | Rotation angle detecting device for car driving motor, and bearing equipped with the rotation angle detecting device |
| JP2014163831A (en) * | 2013-02-26 | 2014-09-08 | Jtekt Corp | Rotation angle detector |
| CN204064235U (en) * | 2014-09-19 | 2014-12-31 | 三峡大学 | A kind of steering wheel angle sensor |
| CN105387876A (en) * | 2014-09-02 | 2016-03-09 | 英飞凌科技股份有限公司 | Off-axis sensor |
| CN107709947A (en) * | 2015-06-26 | 2018-02-16 | 日本精工株式会社 | Relative angle detection means, torque sensor, electric power-assisted steering apparatus and vehicle |
| CN212539205U (en) * | 2020-07-01 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Angle detection device |
-
2020
- 2020-07-01 CN CN202010626669.7A patent/CN111829561A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6762897B1 (en) * | 1997-09-08 | 2004-07-13 | Kabushiki Kaisha Yaskawa Denki | Magnetic encoder apparatus |
| JP2000065596A (en) * | 1998-08-20 | 2000-03-03 | Yaskawa Electric Corp | Magnetic encoder |
| CN1789903A (en) * | 2002-04-15 | 2006-06-21 | 本田技研工业株式会社 | Pulse generator integrated with rotor angle sensor |
| US20040083823A1 (en) * | 2002-10-28 | 2004-05-06 | Koyo Seiko Co., Ltd. | Rotation angle detecting device, torque detecting device and method of manufacturing the same |
| CN101115981A (en) * | 2005-02-10 | 2008-01-30 | 松下电器产业株式会社 | Rotation angle and torque detection device |
| JP2009192263A (en) * | 2008-02-12 | 2009-08-27 | Denso Corp | Rotation detection device |
| CN102472607A (en) * | 2009-06-30 | 2012-05-23 | Ntn株式会社 | Rotation angle detecting device for car driving motor, and bearing equipped with the rotation angle detecting device |
| JP2014163831A (en) * | 2013-02-26 | 2014-09-08 | Jtekt Corp | Rotation angle detector |
| CN105387876A (en) * | 2014-09-02 | 2016-03-09 | 英飞凌科技股份有限公司 | Off-axis sensor |
| CN204064235U (en) * | 2014-09-19 | 2014-12-31 | 三峡大学 | A kind of steering wheel angle sensor |
| CN107709947A (en) * | 2015-06-26 | 2018-02-16 | 日本精工株式会社 | Relative angle detection means, torque sensor, electric power-assisted steering apparatus and vehicle |
| CN212539205U (en) * | 2020-07-01 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Angle detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212539205U (en) | Angle detection device | |
| CN107655510B (en) | Multi-turn absolute value encoder and position detection method | |
| CN100573073C (en) | The anglec of rotation and torque master | |
| JP2009031290A (en) | Rotary encoder and operation method thereof | |
| US20040000902A1 (en) | Magnetic sensor unit less responsive to leaking magnetic flux | |
| CN107086100B (en) | Magnetosensitive non-contact point potentiometer | |
| CN113110148A (en) | Low-power-consumption magnetic encoder and working method | |
| WO2010124587A1 (en) | Position detection device and signal processing device and method thereof | |
| CN111829561A (en) | Angle detection device | |
| US7162152B2 (en) | Position detecting device of lens barrel with disk-shaped magnet and sensor chip | |
| CN210922654U (en) | Magnetoelectric encoder based on giant magnetoresistance effect | |
| US11973456B2 (en) | Motor | |
| CN114865853B (en) | Method for detecting rotor angle of limited-angle motor | |
| JP2014219312A (en) | Rotation angle sensor | |
| WO2010070392A1 (en) | Rolling bearing assembly with an encoder washer and a sensor, and process for manufacturing such a rolling bearing assembly | |
| CN211401229U (en) | Gear multi-ring magnetoelectric rotary encoder | |
| CN107389104A (en) | A kind of multi-turn magnetic absolute angle sensor | |
| WO2006013622A1 (en) | Bearing with absolute angle sensor | |
| CN221977175U (en) | Magnetic induction coding focusing or zooming device | |
| CN205352419U (en) | Magnetic resistance absolute encoder | |
| US20250096653A1 (en) | A motor assembly | |
| CN216731817U (en) | Motor drive system and robot | |
| JP4343585B2 (en) | Bearing device with absolute angle sensor and method of using the same | |
| CN221127064U (en) | Roller motor | |
| CN217637389U (en) | High-resolution absolute value magnetic encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220105 Address after: 100192 a101b, 1 / F, building B-2, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant after: Beijing zero Innovation Technology Co.,Ltd. Address before: 100192 rooms B201 and B202, 2 / F, building B-6, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant before: NINEBOT (BEIJING) TECH Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220210 Address after: 100192 a101b, 1 / F, building B-2, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant after: Beijing zero Innovation Technology Co.,Ltd. Applicant after: Nanbo (Beijing) Technology Co., Ltd Address before: 100192 a101b, 1 / F, building B-2, Dongsheng Science Park, Zhongguancun, 66 xixiaokou Road, Haidian District, Beijing Applicant before: Beijing zero Innovation Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right |