CN113720362B

CN113720362B - Encoders, motors and automation equipment

Info

Publication number: CN113720362B
Application number: CN202111123125.XA
Authority: CN
Inventors: 左思; 蓝维隆
Original assignee: Shenzhen Lingxi Automation Technology Co ltd
Current assignee: Shenzhen Lingxi Automation Technology Co ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2024-11-19
Anticipated expiration: 2041-09-24
Also published as: CN113720362A

Abstract

The invention provides an encoder, a motor and an automation device, wherein the encoder comprises a circuit board and a magnetic component which can move relative to the circuit board, and the circuit board comprises: at least three magnetic induction modules for inducing the change of the magnetic signal of the magnetic component to generate two magnetic coding signals so as to obtain the running direction, the circle value and the absolute position of the current moment of the encoder according to the two magnetic coding signals; the at least one light sensing module is used for sensing the change of the optical signal of the encoder to generate an optical coding signal so as to obtain the relative position of the encoder at the current moment; the signal processing unit is connected with each module to determine the position information of the current moment of the encoder according to the running direction, the circle value, the absolute position and the relative position of the current moment of the encoder, so as to solve the problem that the photoelectric encoder or the magnetoelectric encoder in the prior art cannot meet the requirements of high precision and anti-interference at the same time.

Description

Encoder, motor and automation equipment

Technical Field

The invention relates to the technical field of encoders, in particular to an encoder, a motor and automatic equipment.

Background

The photoelectric encoder comprises a photoelectric code disc, wherein the center of the photoelectric code disc is sleeved on a rotating shaft, annular light-dark alternate scribing lines are arranged on the photoelectric code disc, the photoelectric encoder further comprises a light emitting device and a light receiving device, the light emitting device is used for reading light signals emitted by the light emitting device and converting the light signals into electric signals, the electric signals are mainly used for measuring displacement or angles, and the photoelectric encoder is simple in structure, high in precision and weak in anti-interference capability. In addition, since the photoelectric encoder calculates the accuracy by scoring lines on the code wheel, the higher the accuracy, the larger the code wheel and the larger the total volume of the encoder.

The magneto-electric encoder adopts magneto-electric design, replaces the code wheel by using a magnetic device, is provided with a magnetic induction device, generates and provides the absolute position of the rotor by using the change of a magnetic field, overcomes the defects of the photoelectric encoder, and has the advantages of shock resistance, corrosion resistance, pollution resistance, high reliability, simple structure and the like, but has poor precision.

In order to meet the requirements of high precision and interference resistance in the use of the encoder, a magneto-optical hybrid encoder needs to be arranged, and the magneto-optical hybrid encoder comprises an optical encoding component and a magnetic encoding component, and more accurate absolute position information is calculated by combining signals sensed by a magnetic induction chip and a light induction chip, so that the measurement precision of the encoder is improved, and the requirements of high precision and high stability of the hybrid encoder are met.

Disclosure of Invention

The invention mainly aims to provide an encoder, a motor and automatic equipment, so as to solve the problem that a photoelectric encoder or a magnetoelectric encoder in the prior art cannot meet the requirements of high precision and interference resistance.

In order to achieve the above object, according to one aspect of the present invention, there is provided an encoder including a circuit board and a magnetic member movable relative to the circuit board, the circuit board including: the at least one light sensing module is used for sensing the change of the optical signal of the encoder to generate an optical coding signal so as to obtain the relative position of the encoder at the current moment; wherein, the circuit board still includes: the first magnetic induction modules are used for inducing the change of the magnetic signals of the magnetic components to generate first magnetic coding signals so as to obtain a first running direction of the encoder, and determining a first circle value of the magnetic signals at the current moment of the encoder through the level change of the first magnetic induction modules; at least one second magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a second magnetic encoded signal to obtain a first absolute position of the current time of the encoder; or at least two third magnetic induction modules for inducing the change of the magnetic signal of the magnetic component to generate a third magnetic coding signal so as to obtain a second circle value of the magnetic signal at the current moment of the encoder; at least one fourth magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a fourth magnetic encoding signal, and obtaining a second absolute position and a second running direction of the current time of the encoder through the third magnetic encoding signal and the fourth magnetic encoding signal; or, at least two fifth magnetic induction modules are used for inducing the change of the magnetic signals of the magnetic components to generate fifth magnetic coding signals so as to obtain a third running direction of the encoder, and determining a third circle value of the magnetic signals at the current moment of the encoder through the level change of the fifth magnetic induction modules; at least one sixth magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a sixth magnetic encoded signal, the third absolute position of the current time of the encoder being obtained from the fifth magnetic encoded signal and the sixth magnetic encoded signal; the circuit board further comprises a signal processing unit which is connected with the first magnetic induction module and the second magnetic induction module, or the third magnetic induction module and the fourth magnetic induction module, or the fifth magnetic induction module and the sixth magnetic induction module, and the optical induction modules, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the first running direction, the first circle of numerical values and the first absolute position, or the second running direction, the second circle of numerical values and the second absolute position, or the third running direction, the third circle of numerical values and the third absolute position.

Further, at least two first magnetic induction modules or at least two third magnetic induction modules or at least two fifth magnetic induction modules output at least one first square wave signal group, and in one mechanical period, the first square wave signal group comprises N periods of first square wave signals and N periods of second square wave signals, wherein N is more than or equal to 1, and N is an integer.

Further, the phase difference between the first square wave signal and the second square wave signal of each first square wave signal group at the same time is 90 degrees.

Further, the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal includes at least one first sine-cosine signal group, in one mechanical period, the first sine-cosine signal group includes a first sine signal of one period and a first cosine signal of one period, or the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal includes at least one second sine-cosine signal group, in one mechanical period, the second sine-cosine signal group includes a second sine signal of two periods and a second cosine signal of two periods, or the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal includes at least one third sine-cosine signal group, in one mechanical period, the third sine-cosine signal group includes a third sine signal of M periods and a third cosine signal of M periods, wherein M is an integer greater than or equal to 3; or the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal comprises a digital signal of at least one period; or the second magnetic coding signal or the fourth magnetic coding signal or the sixth magnetic coding signal comprises at least one PWM signal which periodically changes along with the angle position; or the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal includes a triangular wave signal of at least one period; or the second or fourth or sixth magnetic encoded signal comprises a trapezoidal wave signal of at least four periods.

Further, the optical coding signal comprises at least one second square wave signal group, and in one mechanical period, the second square wave signal group comprises H periodic third square wave signals and H periodic fourth square wave signals, wherein H is more than or equal to 1, and H is an integer; or the optical coding signal comprises at least one fourth sine and cosine signal group, and in one mechanical period, the fourth sine and cosine signal group comprises K periodic sine signals and K periodic cosine signals, wherein K is more than or equal to 1, and K is an integer.

Further, the phase difference between the third square wave signal and the fourth square wave signal of each second square wave signal group at the same time is 90 degrees.

Further, the encoder comprises a code disc provided with a code channel, and the light sensing module is used for sensing the change of the optical signal of the code disc to generate an optical coding signal; and/or the encoder comprises a ring grating provided with a code channel, and the light sensing module is used for sensing the change of the optical signal of the ring grating so as to generate an optical coding signal; and/or the encoder comprises a drum grating provided with code channels, and the light sensing module is used for sensing the change of the optical signal of the drum grating to generate an optical coding signal; or the encoder comprises a grating ruler provided with code channels, and the light sensing module is used for sensing the change of the optical signals of the grating ruler so as to generate optical coding signals.

Further, the light rays emitted by the light sensing module are received again by the light sensing module after being reflected by the code channel; or, the encoder further comprises a light source for emitting light, and the light emitted by the light source is received by the light sensing module after being reflected or transmitted by the code channel.

Further, the magnetic component comprises at least one of magnetic steel, a magnetic ring, a magnetic drum and a magnetic ruler.

Further, the first or second or third or fourth or fifth or sixth magnetic sensing module comprises at least one of a hall switch or a magnetic sensing chip comprising at least one of TMR, GMR and AMR.

Further, the optical coding signal further comprises at least one Z pulse signal, and the signal processing unit receives and processes the Z pulse signal to obtain an optical signal circle value of the current moment of the encoder.

Further, the number of the first magnetic induction modules or the third magnetic induction modules or the fifth magnetic induction modules is two, and the included angle between the central lines of the two first magnetic induction modules or the third magnetic induction modules or the fifth magnetic induction modules is a mechanical angle of 90 degrees or 270 degrees; or, the number of the first magnetic induction modules or the third magnetic induction modules or the fifth magnetic induction modules is H, wherein H is more than or equal to 3, H is an integer, the H first magnetic induction modules or the third magnetic induction modules or the fifth magnetic induction modules are arranged at equal intervals around the rotation axis of the encoder, and the included angle between any two adjacent first magnetic induction modules or third magnetic induction modules or fifth magnetic induction modules is 180 degrees/H or 360 degrees/H.

Further, the code channel is any one of a cursor code channel, a Gray code channel, an M-sequence code channel and a single-circle code channel.

According to a second aspect of the present invention there is provided an electrical machine comprising an encoder, the encoder being the encoder described above.

According to a third aspect of the present invention, there is provided an automation device comprising a motor, the motor being the motor described above.

The invention provides an encoder, comprising a circuit board and a magnetic component which can move relative to the circuit board, wherein the circuit board comprises: the at least one light sensing module is used for sensing the change of the optical signal of the encoder to generate an optical coding signal so as to obtain the relative position of the encoder at the current moment; wherein, the circuit board still includes: the first magnetic induction modules are used for inducing the change of the magnetic signals of the magnetic components to generate first magnetic coding signals so as to obtain a first running direction of the encoder, and determining a first circle value of the magnetic signals at the current moment of the encoder through the level change of the first magnetic induction modules; at least one second magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a second magnetic encoded signal to obtain a first absolute position of the current time of the encoder; or at least two third magnetic induction modules for inducing the change of the magnetic signal of the magnetic component to generate a third magnetic coding signal so as to obtain a second circle value of the magnetic signal at the current moment of the encoder; at least one fourth magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a fourth magnetic encoding signal, and obtaining a second absolute position and a second running direction of the current time of the encoder through the third magnetic encoding signal and the fourth magnetic encoding signal; or, at least two fifth magnetic induction modules are used for inducing the change of the magnetic signals of the magnetic components to generate fifth magnetic coding signals so as to obtain a third running direction of the encoder, and determining a third circle value of the magnetic signals at the current moment of the encoder through the level change of the fifth magnetic induction modules; at least one sixth magnetic induction module for inducing a change in the magnetic signal of the magnetic component to generate a sixth magnetic encoded signal, the third absolute position of the current time of the encoder being obtained from the fifth magnetic encoded signal and the sixth magnetic encoded signal; the circuit board further comprises a signal processing unit which is connected with the first magnetic induction module and the second magnetic induction module, or the third magnetic induction module and the fourth magnetic induction module, or the fifth magnetic induction module and the sixth magnetic induction module, and the optical induction modules, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the first running direction, the first circle of numerical values and the first absolute position, or the second running direction, the second circle of numerical values and the second absolute position, or the third running direction, the third circle of numerical values and the third absolute position. The encoder disclosed by the invention has the advantages of high precision of the photoelectric encoder, and also has the advantages of shock resistance, corrosion resistance, pollution resistance, high reliability and the like of the magnetoelectric encoder, so that the requirements of high precision and high stability of the encoder are met, and the problem that the photoelectric encoder or the magnetoelectric encoder in the prior art cannot meet the requirements of high precision and interference resistance at the same time is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 shows a half cross-sectional view of an embodiment of an encoder according to the present invention;

FIG. 2 illustrates a schematic view of the position of a first magnetic induction module and a second magnetic induction module of the encoder shown in FIG. 1 relative to a magnetic component;

FIG. 3 shows a schematic diagram of the encoder shown in FIG. 1;

FIG. 4 shows an exploded view of the encoder shown in FIG. 1;

FIG. 5 illustrates a schematic position diagram of a first embodiment of a first magnetic induction module of the encoder shown in FIG. 1;

FIG. 6 illustrates a schematic diagram of a position of a second embodiment of a first magnetic induction module of the encoder shown in FIG. 1;

FIG. 7 illustrates a schematic position diagram of a third embodiment of a first magnetic induction module of the encoder shown in FIG. 1; and

FIG. 8 shows a schematic position diagram of a fourth embodiment of a first magnetic induction module of the encoder shown in FIG. 1.

Wherein the above figures include the following reference numerals:

1. A circuit board; 2. an optical component; 3. a magnetic member; 4. a first magnetic induction module; 5. a second magnetic induction module; 6. a light sensing module; 7. a code disc support; 8. and (3) a bracket.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 4, the present invention provides an encoder including a circuit board 1 and a magnetic member 3 movable relative to the circuit board 1, the circuit board 1 including: at least one light sensing module 6 for sensing the change of the optical signal of the encoder to generate an optical code signal to obtain the relative position of the encoder at the current moment; wherein the circuit board 1 further comprises: at least two first magnetic induction modules 4 for inducing the change of the magnetic signal of the magnetic component 3 to generate a first magnetic encoding signal so as to obtain a first running direction of the encoder, and determining a first circle value of the magnetic signal at the current moment of the encoder through the level change of the first magnetic induction modules; at least one second magnetic induction module 5 for inducing a change in the magnetic signal of the magnetic component 3 to generate a second magnetic encoded signal to obtain a first absolute position of the current moment of the encoder; or, at least two third magnetic induction modules for inducing the change of the magnetic signal of the magnetic component 3 to generate a third magnetic encoding signal so as to obtain a second circle value of the magnetic signal at the current moment of the encoder; at least one fourth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a fourth magnetic encoding signal, and obtaining a second absolute position and a second running direction of the current time of the encoder through the third magnetic encoding signal and the fourth magnetic encoding signal; or, at least two fifth magnetic induction modules are used for inducing the change of the magnetic signal of the magnetic component 3 to generate a fifth magnetic coding signal so as to obtain a third running direction of the encoder, and determining a third circle value of the magnetic signal at the current moment of the encoder through the level change of the fifth magnetic induction modules; at least one sixth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a sixth magnetic encoding signal, and obtaining a third absolute position of the current time of the encoder through the fifth magnetic encoding signal and the sixth magnetic encoding signal; the circuit board 1 further includes a signal processing unit connected to the first magnetic induction module and the second magnetic induction module, or the third magnetic induction module and the fourth magnetic induction module, or the fifth magnetic induction module and the sixth magnetic induction module, and the optical induction module 6, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the first running direction, the first circle of values and the first absolute position, or the second running direction, the second circle of values and the second absolute position, or the third running direction, the third circle of values and the third absolute position.

The present invention provides an encoder comprising a circuit board 1 and a magnetic member 3 movable relative to the circuit board 1, the circuit board 1 comprising: at least one light sensing module 6 for sensing the change of the optical signal of the encoder to generate an optical code signal to obtain the relative position of the encoder at the current moment; wherein the circuit board 1 further comprises: at least two first magnetic induction modules 4 for inducing the change of the magnetic signal of the magnetic component 3 to generate a first magnetic encoding signal so as to obtain a first running direction of the encoder, and determining a first circle value of the magnetic signal at the current moment of the encoder through the level change of the first magnetic induction modules; at least one second magnetic induction module 5 for inducing a change in the magnetic signal of the magnetic component 3 to generate a second magnetic encoded signal to obtain a first absolute position of the current moment of the encoder; or, at least two third magnetic induction modules for inducing the change of the magnetic signal of the magnetic component 3 to generate a third magnetic encoding signal so as to obtain a second circle value of the magnetic signal at the current moment of the encoder; at least one fourth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a fourth magnetic encoding signal, and obtaining a second absolute position and a second running direction of the current time of the encoder through the third magnetic encoding signal and the fourth magnetic encoding signal; or, at least two fifth magnetic induction modules are used for inducing the change of the magnetic signal of the magnetic component 3 to generate a fifth magnetic coding signal so as to obtain a third running direction of the encoder, and determining a third circle value of the magnetic signal at the current moment of the encoder through the level change of the fifth magnetic induction modules; at least one sixth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a sixth magnetic encoding signal, and obtaining a third absolute position of the current time of the encoder through the fifth magnetic encoding signal and the sixth magnetic encoding signal; the circuit board 1 further includes a signal processing unit connected to the first magnetic induction module and the second magnetic induction module, or the third magnetic induction module and the fourth magnetic induction module, or the fifth magnetic induction module and the sixth magnetic induction module, and the optical induction module 6, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the first running direction, the first circle of values and the first absolute position, or the second running direction, the second circle of values and the second absolute position, or the third running direction, the third circle of values and the third absolute position. The encoder disclosed by the invention has the advantages of high precision of the photoelectric encoder, and also has the advantages of shock resistance, corrosion resistance, pollution resistance, high reliability and the like of the magnetoelectric encoder, so that the requirements of high precision and high stability of the encoder are met, and the problem that the photoelectric encoder or the magnetoelectric encoder in the prior art cannot meet the requirements of high precision and interference resistance at the same time is solved.

Wherein the circuit board 1 is a PCB circuit board.

In one embodiment of the present invention shown in fig. 1, the encoder is for mounting on a rotary electric machine, the encoder includes a circuit board 1, a bracket 8, and a first magnetic induction module 4, a second magnetic induction module 5, a light induction module 6, etc. provided on the circuit board 1, the rotary electric machine includes an optical member 2 (i.e., a code wheel), a magnetic member 3 (i.e., a magnetic steel or a magnetic ring), and a code wheel support 7, the optical member 2 and the magnetic member 3 are mounted on a rotating shaft of the rotary electric machine through the code wheel support 7 to rotate with the rotating shaft, the circuit board 1 is mounted on the rotary electric machine through the bracket 8, the first magnetic induction module 4, the second magnetic induction module 5, and the light induction module 6 are provided on the circuit board 1, the first magnetic induction module 4 and the second magnetic induction module 5 are provided opposite to the magnetic member 3, and the light induction module 6 is provided opposite to the optical member 2.

Specific embodiments of the encoder of the present invention are as follows:

Example 1

In this embodiment, the present invention provides an encoder including a circuit board 1 and a magnetic member 3 movable relative to the circuit board 1, the circuit board 1 including: at least one light sensing module 6 for sensing the change of the optical signal of the encoder to generate an optical code signal to obtain the relative position of the encoder at the current moment; wherein the circuit board 1 further comprises: at least two first magnetic induction modules 4 for inducing the change of the magnetic signal of the magnetic component 3 to generate a first magnetic encoding signal so as to obtain a first running direction of the encoder, and determining a first circle value of the magnetic signal at the current moment of the encoder through the level change of the first magnetic induction modules; at least one second magnetic induction module 5 for inducing a change in the magnetic signal of the magnetic component 3 to generate a second magnetic encoded signal to obtain a first absolute position of the current moment of the encoder; the circuit board 1 further comprises a signal processing unit connected with the first magnetic induction module, the second magnetic induction module and the light induction module 6, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the first running direction, the first circle of numerical values and the first absolute position.

Example two

The present embodiment differs from the first embodiment in the manner of obtaining the running direction, the number of turns, and the absolute position of the encoder at the present time, and in the present embodiment, the present invention provides an encoder including a circuit board 1 and a magnetic member 3 movable relative to the circuit board 1, the circuit board 1 including: at least one light sensing module 6 for sensing the change of the optical signal of the encoder to generate an optical code signal to obtain the relative position of the encoder at the current moment; wherein the circuit board 1 further comprises: at least two third magnetic induction modules for inducing a change in the magnetic signal of the magnetic component 3 to generate a third magnetic encoded signal to obtain a second circle value of the magnetic signal at the current time of the encoder; at least one fourth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a fourth magnetic encoding signal, and obtaining a second absolute position and a second running direction of the current time of the encoder through the third magnetic encoding signal and the fourth magnetic encoding signal; the circuit board 1 further comprises a signal processing unit connected with the third magnetic induction module, the fourth magnetic induction module and the light induction module 6, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position of the current moment of the encoder, the second running direction, the second circle value and the second absolute position.

Example III

The present embodiment differs from the first and second embodiments in the manner in which the running direction, the number of turns, and the absolute position of the encoder at the present time are obtained, and in the present embodiment, the present invention provides an encoder including a circuit board 1 and a magnetic member 3 movable relative to the circuit board 1, the circuit board 1 including: at least one light sensing module 6 for sensing the change of the optical signal of the encoder to generate an optical code signal to obtain the relative position of the encoder at the current moment; wherein the circuit board 1 further comprises: at least two fifth magnetic induction modules for inducing the change of the magnetic signal of the magnetic component 3 to generate a fifth magnetic encoding signal so as to obtain a third running direction of the encoder, and determining a third circle value of the magnetic signal at the current moment of the encoder through the level change of the fifth magnetic induction modules; at least one sixth magnetic induction module for inducing a change in the magnetic signal of the magnetic component 3 to generate a sixth magnetic encoding signal, and obtaining a third absolute position of the current time of the encoder through the fifth magnetic encoding signal and the sixth magnetic encoding signal; the circuit board 1 further comprises a signal processing unit connected with the fifth magnetic induction module, the sixth magnetic induction module and the light induction module 6, and the signal processing unit determines the position information of the current moment of the encoder according to the relative position, the third running direction, the third circle value and the third absolute position of the current moment of the encoder.

Example IV

The present embodiment is further limited to one of the first to third embodiments, in which at least two first magnetic induction modules 4 or at least two third magnetic induction modules or at least two fifth magnetic induction modules output at least one first square wave signal group, and in one mechanical period, the first square wave signal group includes N periods of first square wave signals and N periods of second square wave signals, where N is greater than or equal to 1 and N is an integer.

In this way, in one mechanical period, the first square wave signals and the second square wave signals output by the two first magnetic induction modules 4 or the at least two third magnetic induction modules or the at least two fifth magnetic induction modules are in one-to-one correspondence with the circle value of the magnetic signal at the current moment of the encoder and the running direction of the encoder, so the circle value of the magnetic signal at the current moment of the encoder and the running direction of the encoder can be directly obtained by calculating the first square wave signals and the second square wave signals of the two first magnetic induction modules 4 or the at least two third magnetic induction modules or the at least two fifth magnetic induction modules.

When the encoder is mounted in the rotary electric machine, in one mechanical cycle, the first square wave signal group includes N cycles of first square wave signals and N cycles of second square wave signals means: every time the magnetic component 3 rotates one turn (i.e., 360 degrees) along with the rotor of the rotating electrical machine, the two first magnetic induction modules 4 or the at least two third magnetic induction modules or the at least two fifth magnetic induction modules output N periodic first square wave signals and N periodic second square wave signals.

When the encoder is installed in the drum motor, the first square wave signal group includes N periods of first square wave signals and N periods of second square wave signals in one mechanical period means: every time the magnetic component 3 rotates with the rotor of the roller motor for one circle (namely 360 degrees), the two first magnetic induction modules 4 or at least two third magnetic induction modules or at least two fifth magnetic induction modules output N periodic first square wave signals and N periodic second square wave signals.

When the encoder is installed in the linear motor, in one mechanical period, the first square wave signal group includes N periods of first square wave signals and N periods of second square wave signals means: each time the circuit board 1 moves along with the rotor of the linear motor by one stroke, the two first magnetic induction modules 4 or at least two third magnetic induction modules or at least two fifth magnetic induction modules output N periodic first square wave signals and N periodic second square wave signals.

Example five

The present embodiment is further limited to the fourth embodiment, and in the present embodiment, the phase difference between the first square wave signal and the second square wave signal of each first square wave signal group at the same time is 90 degrees.

Example six

The present embodiment is further defined as one of the first to third embodiments, wherein the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal comprises at least one first sine-cosine signal group, and wherein the first sine-cosine signal group comprises a first sine signal of one period and a first cosine signal of one period within one mechanical period.

In this way, in one mechanical period, the first sine and cosine signals output by the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module are in one-to-one correspondence with the absolute position of the current moment of the encoder, so the absolute position of the current moment of the encoder can be directly obtained by calculating the sine and cosine signals of the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module.

When the encoder is mounted in the rotary electric machine, in one mechanical cycle, the first sine-cosine signal group includes a first sine signal of one cycle and a first cosine signal of one cycle means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a first sine signal of one period and a first cosine signal of one period every time the magnetic member 3 rotates one turn (i.e., 360 degrees) with the rotor of the rotary electric machine.

When the encoder is installed in the drum motor, in one mechanical cycle, the first sine-cosine signal group includes a first sine signal of one cycle and a first cosine signal of one cycle means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a first sine signal of one period and a first cosine signal of one period every time the magnetic component 3 rotates one turn (i.e., 360 degrees) with the mover of the drum motor.

When the encoder is installed in the linear motor, in one mechanical period, the first sine-cosine signal group includes a first sine signal of one period and a first cosine signal of one period means: each time the circuit board 1 moves along with the rotor of the linear motor by one stroke, the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a first sine signal of one period and a first cosine signal of one period.

Example seven

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the sixth embodiment is that the specific waveforms of the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal are different, in the present embodiment, the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal includes at least one second sine-cosine signal group, and in one mechanical period, the second sine-cosine signal group includes two periods of the second sine signal and two periods of the second cosine signal.

In this way, in one mechanical period, the second sine and cosine signals output by the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module are in one-to-one correspondence with the absolute position of the current moment of the encoder, so the absolute position of the current moment of the encoder can be directly obtained by calculating the sine and cosine signals of the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module.

When the encoder is mounted in the rotary electric machine, in one mechanical period, the second sine-cosine signal group includes two periods of second sine signals and two periods of second cosine signals means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a second sine signal of two periods and a second cosine signal of two periods every time the magnetic member 3 rotates one turn (i.e., 360 degrees) with the rotor of the rotary electric machine.

When the encoder is installed in the drum motor, in one mechanical cycle, the second sine-cosine signal group includes two periods of second sine signals and two periods of second cosine signals means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a second sine signal of two periods and a second cosine signal of two periods every time the magnetic component 3 rotates one turn (i.e., 360 degrees) along with the rotor of the drum motor.

When the encoder is mounted in the linear motor, in one mechanical period, the second sine-cosine signal group includes two periods of second sine signals and two periods of second cosine signals means: each time the circuit board 1 moves along with the rotor of the linear motor, the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a second sine signal with two periods and a second cosine signal with two periods.

Example eight

The present embodiment is further defined as one of the first to third embodiments, and the difference between the present embodiment and the sixth and seventh embodiments is that the specific waveforms of the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal are different, in the present embodiment, the second magnetic encoded signal includes at least one third sine and cosine signal group, and in one mechanical period, the third sine and cosine signal group includes a third sine signal of M periods and a third cosine signal of M periods, where M is equal to or greater than 3, and M is an integer.

When the encoder is mounted in the rotary electric machine, in one mechanical period, the third sine-cosine signal group includes M periods of third sine signals and M periods of third cosine signals means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a third sine signal of M periods and a third cosine signal of M periods every time the magnetic member 3 rotates one turn (i.e., 360 degrees) with the rotor of the rotary electric machine.

When the encoder is installed in the drum motor, in one mechanical period, the third sine-cosine signal group includes M periods of third sine signals and M periods of third cosine signals means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a third sine signal of M periods and a third cosine signal of M periods every time the magnetic component 3 rotates one turn (i.e., 360 degrees) with the mover of the drum motor.

When the encoder is installed in the linear motor, in one mechanical period, the third sine-cosine signal group includes M periods of third sine signals and M periods of third cosine signals means: the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module outputs a third sine signal of M periods and a third cosine signal of M periods each time the circuit board 1 moves along with the rotor of the linear motor by one stroke.

Example nine

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the sixth to eighth embodiments is that the specific waveform of the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal is different, and in the present embodiment, the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal includes a digital signal of at least one period.

Examples ten

This embodiment is a further limitation of one of the first to third embodiments, and the difference between this embodiment and the sixth to ninth embodiments is that the specific waveform of the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal is different, and in this embodiment, the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal includes at least one PWM signal that varies periodically with the angular position.

Example eleven

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the sixth to tenth embodiments is that the specific waveform of the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal is different, and in the present embodiment, the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal includes a triangular wave signal of at least one period.

Example twelve

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the sixth to eleventh embodiments is that the specific waveform of the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal is different, and in the present embodiment, the second magnetic encoded signal or the fourth magnetic encoded signal or the sixth magnetic encoded signal includes a trapezoidal wave signal of at least four periods.

Example thirteen

The present embodiment is further defined by any one of embodiments one to three, wherein the optical coding signal includes at least one second square wave signal group, and the second square wave signal group includes a third square wave signal of H periods and a fourth square wave signal of H periods, where H is greater than or equal to 1, and H is an integer.

Thus, in one mechanical cycle, the third and fourth square wave signals output by the light sensing module 6 are in one-to-one correspondence with the relative positions, and therefore, the relative positions of the circuit board 1 with respect to the optical component 2 can be directly obtained by calculating the third and fourth square wave signals of the light sensing module 6.

When the encoder is mounted in the rotary electric machine, in one mechanical period, the second square wave signal group includes the third square wave signal of H periods and the fourth square wave signal of H periods means: the light sensing module 6 outputs a third square wave signal of H periods and a fourth square wave signal of H periods every time the optical member 2 rotates one turn (i.e., 360 degrees) with the rotor of the rotary electric machine.

When the encoder is installed in the drum motor, in one mechanical period, the second square wave signal group includes the third square wave signal of H periods and the fourth square wave signal of H periods means: the optical component 2 rotates one circle (namely 360 degrees) along with the rotor of the roller motor, and the light sensing module 6 outputs a third square wave signal of H periods and a fourth square wave signal of H periods.

When the encoder is installed in the linear motor, in one mechanical period, the second square wave signal group includes the third square wave signal of H periods and the fourth square wave signal of H periods means: the light sensing module 6 outputs a third square wave signal of H periods and a fourth square wave signal of H periods every time the circuit board 1 moves one stroke along with the rotor of the linear motor.

Examples fourteen

The present embodiment is further defined as any one of the first to third embodiments, and the difference between the present embodiment and the thirteenth embodiment is that the specific waveform of the optical code signal is different, in the present embodiment, the optical code signal includes at least one fourth sine-cosine signal group, and in one mechanical period, the fourth sine-cosine signal group includes K cycles of sine signals and K cycles of cosine signals, where K is greater than or equal to 1, and K is an integer.

Thus, in one mechanical period, the fourth sine and cosine signals output by the light sensing module 6 are in one-to-one correspondence with the relative positions, so that the relative positions of the circuit board 1 relative to the optical component 2 can be directly obtained by calculating the sine and cosine signals of the light sensing module 6.

When the encoder is mounted in the rotary electric machine, in one mechanical period, the fourth sine-cosine signal group including the fourth sine signals of K periods and the fourth cosine signals of K periods means: the light sensing module 6 outputs a fourth sine signal of K periods and a fourth cosine signal of K periods every time the optical member 2 rotates one turn (i.e., 360 degrees) with the rotor of the rotary electric machine.

When the encoder is installed in the drum motor, in one mechanical period, the fourth sine-cosine signal group includes a fourth sine signal of K periods and a fourth cosine signal of K periods means: the optical component 2 rotates with the rotor of the roller motor once (namely 360 degrees), and the light sensing module 6 outputs a fourth sine signal of K periods and a fourth cosine signal of K periods.

When the encoder is mounted in the linear motor, in one mechanical period, the fourth sine-cosine signal group includes a fourth sine signal of K periods and a fourth cosine signal of K periods means: the circuit board 1 moves along with the rotor of the linear motor by one stroke, and the light sensing module 6 outputs a fourth sine signal of K periods and a fourth cosine signal of K periods.

Example fifteen

This embodiment is further defined as the thirteenth embodiment, and in this embodiment, the phase difference between the third square wave signal and the fourth square wave signal of each second square wave signal group at the same time is 90 degrees.

Examples sixteen

The present embodiment is further limited to any one of the first to fifteenth embodiments, in which the encoder includes a code disc provided with code tracks, and the light sensing module 6 is configured to sense a change of an optical signal of the code disc to generate an optical code signal, where the code track is in a ring shape, and includes a grating line formed by a plurality of reflective metal sheets.

Example seventeen

This embodiment is a further limitation of any one of embodiments one to fifteen, and differs from embodiment sixteen in the kind of optical component that reflects or transmits the optical signal, and in this embodiment, the encoder includes a ring grating provided with code tracks, and the light sensing module 6 is configured to sense a change in the optical signal of the ring grating to generate an optical coded signal.

Example eighteen

This embodiment is a further limitation of embodiments one to fifteen, and differs from embodiments sixteen and seventeen in the kind of optical components that reflect or transmit the optical signal, and in this embodiment, the encoder includes a drum grating provided with code tracks, and the light sensing module 6 is configured to sense a change in the optical signal of the drum grating to generate the optical coded signal.

Examples nineteenth

This embodiment is a further limitation of any one of embodiments one to fifteen, and differs from embodiments sixteen to eighteen in the kind of optical component that reflects or transmits the optical signal, in this embodiment, the encoder includes a code wheel provided with code tracks and a ring grating provided with code tracks, and the light sensing module 6 is configured to sense changes in the optical signals of the code wheel and the ring grating to generate the optical coded signal.

Example twenty

This embodiment is a further limitation of any one of embodiments one to fifteen, and differs from embodiments sixteen to nineteenth in the kind of optical component that reflects or transmits an optical signal, and in this embodiment, the encoder includes a code wheel provided with code tracks, a ring grating provided with code tracks, and a drum grating provided with code tracks, and the light sensing module 6 is configured to sense changes in the optical signals of the code wheel, the ring grating, and the drum grating to generate an optical coded signal.

Example twenty-one

This embodiment is a further limitation of any one of embodiments one to fifteen, and differs from embodiments sixteen to twenty in the kind of optical component that reflects or transmits the optical signal, in this embodiment, the encoder includes a code wheel provided with code tracks and a drum grating provided with code tracks, and the light sensing module 6 is configured to sense a change in the optical signal of the code wheel and the drum grating to generate an optical coded signal.

Examples twenty two

This embodiment is a further limitation of any one of embodiments one to fifteen, and differs from embodiments sixteen to twenty one in the kind of optical component that reflects or transmits the optical signal, in which the encoder includes a ring grating provided with code tracks and a drum grating provided with code tracks, and the light sensing module 6 is configured to sense the change of the optical signals of the ring grating and the drum grating to generate an optical coded signal.

Examples twenty-three

The present embodiment is a further limitation of any one of the first to fifteenth embodiments, and the difference between the present embodiment and the sixteenth to twenty-second embodiments is that the types of optical components that reflect or transmit the optical signal are different, and in the present embodiment, the encoder includes a grating scale provided with code tracks, and the light sensing module 6 is configured to sense a change of the optical signal of the grating scale to generate the optical coded signal.

Examples twenty-four

The present embodiment is further limited to any one of the sixteenth to twenty-third embodiments, in which the light emitted by the light sensing module 6 is received again by the light sensing module 6 after being reflected by the code channel.

Examples twenty-five

The present embodiment is further defined as any one of the fourteenth to twenty-fourth embodiments, and the difference between the present embodiment and the twenty-fourth embodiment is that the optical component feeds back the optical information, and in the present embodiment, the encoder further includes a light source for emitting light, and the light emitted by the light source is received by the light sensing module 6 after being reflected or transmitted by the code track.

Examples twenty-six

The present embodiment is further defined as one of the first to third embodiments, in which the encoder includes magnetic steel, and the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the magnetic steel to generate a first magnetic encoding signal or a third magnetic encoding signal or a fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the magnetic steel to generate a second magnetic encoding signal or a fourth magnetic encoding signal or a sixth magnetic encoding signal.

As shown in fig. 2, the magnetic steel is a disc-shaped structure for being disposed at the center of the end of the rotating spindle, wherein the magnetic steel includes a semicircular N-pole and a semicircular S-pole.

Examples twenty-seven

The present embodiment is a further limitation of one of the first to third embodiments, and the twenty-sixth embodiment is different from the first embodiment in that the magnetic component generating the magnetic signal is of a different type, in the present embodiment, the encoder includes a magnetic ring, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the magnetic ring to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the magnetic ring to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Examples twenty-eight

This embodiment is a further limitation of one of the first to third embodiments, and differs from the twenty-sixth and twenty-seventh embodiments in that the magnetic component generating the magnetic signal is of a different kind, and in this embodiment, the encoder includes a drum, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the drum to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the drum to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Examples twenty-nine

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the twenty-sixth to twenty-eighth embodiments is that the kind of the magnetic component generating the magnetic signal is different, in the present embodiment, the encoder includes a magnetic steel and a magnetic ring, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is used for inducing a magnetic field change of the magnetic steel and the magnetic ring to generate a first magnetic encoding signal or a third magnetic encoding signal or a fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is used for inducing a magnetic field change of the magnetic steel and the magnetic ring to generate a second magnetic encoding signal or a fourth magnetic encoding signal or a sixth magnetic encoding signal.

Example thirty

This embodiment is a further limitation of one of the first to third embodiments, and differs from the twenty-sixth to twenty-ninth embodiments in the kind of magnetic components that generate the magnetic signals, in this embodiment, the encoder includes a magnetic steel and a magnetic drum, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the magnetic steel and the magnetic drum to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the magnetic steel and the magnetic drum to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Example thirty-one

This embodiment is a further limitation of one of the first to third embodiments, and differs from the twenty-sixth to thirty embodiments in the kind of magnetic components that generate the magnetic signals, in this embodiment, the encoder includes a magnetic ring and a magnetic drum, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the magnetic ring and the magnetic drum to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the magnetic ring and the magnetic drum to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Example thirty-two

This embodiment is a further limitation of any one of the first to third embodiments, and the difference between this embodiment and the twenty-sixth to thirty-first embodiments is that the kind of the magnetic component generating the magnetic signal is different, in this embodiment, the encoder includes a magnetic steel, a magnetic ring, and a magnetic drum, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is configured to induce a magnetic field change of the magnetic steel, the magnetic ring, and the magnetic drum to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is configured to induce a magnetic field change of the magnetic steel, the magnetic ring, and the magnetic drum to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Example thirty-three

The present embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the twenty-sixth to thirty-second embodiments is that the kind of the magnetic component generating the magnetic signal is different, in the present embodiment, the encoder includes a magnetic scale, the first magnetic induction module 4 or the third magnetic induction module or the fifth magnetic induction module is used for inducing the magnetic field change of the magnetic scale to generate the first magnetic encoding signal or the third magnetic encoding signal or the fifth magnetic encoding signal, and the second magnetic induction module 5 or the fourth magnetic induction module or the sixth magnetic induction module is used for inducing the magnetic field change of the magnetic scale to generate the second magnetic encoding signal or the fourth magnetic encoding signal or the sixth magnetic encoding signal.

Example thirty-four

This embodiment is a further limitation of one of the first to third embodiments, in which the first magnetic induction module 4 or the second magnetic induction module 5 or the third magnetic induction module or the fourth magnetic induction module or the fifth magnetic induction module or the sixth magnetic induction module comprises a hall switch.

Example thirty-five

This embodiment is a further limitation of one of the first to third embodiments, and the difference between this embodiment and the thirty-fourth embodiment is that the first magnetic induction module 4 or the second magnetic induction module 5 or the third magnetic induction module or the fourth magnetic induction module or the fifth magnetic induction module or the sixth magnetic induction module is different in specific kind, and in this embodiment, the first magnetic induction module 4 or the second magnetic induction module 5 or the third magnetic induction module or the fourth magnetic induction module or the fifth magnetic induction module or the sixth magnetic induction module includes a magnetic induction chip including at least one of TMR, GMR and AMR.

Example thirty-six

This embodiment is a further limitation of one of the first to third embodiments, and the difference between the present embodiment and the thirty-fourth and thirty-fifth embodiments is that the specific kind of the first magnetic induction module 4 or the second magnetic induction module 5 or the third magnetic induction module or the fourth magnetic induction module or the fifth magnetic induction module or the sixth magnetic induction module is different, and in the present embodiment, the first magnetic induction module 4 or the second magnetic induction module 5 or the third magnetic induction module or the fourth magnetic induction module or the fifth magnetic induction module or the sixth magnetic induction module includes a hall switch and a magnetic induction chip, and the magnetic induction chip includes at least one of TMR, GMR and AMR.

Example thirty-seven

The present embodiment is further defined as one of the first to third embodiments, wherein the optical code signal further includes at least one Z pulse signal, and the signal processing unit receives and processes the Z pulse signal to obtain an optical signal circle value of the current time of the encoder.

Examples thirty-eight

The present embodiment is further limited to one of the first to third embodiments, in which the number of the first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is two, and the included angle between the center lines of the two first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is a mechanical angle of 90 degrees;

Specifically, as shown in fig. 5, for example, on a plane P perpendicular to the rotation axis L of the magnetic component 3, the center line of the first magnetic induction module 4 is a connecting line OO1 between a projection point O1 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P, the center line of the second first magnetic induction module 4 is a connecting line OO2 between a projection point O2 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P, and an angle between the center line of the first magnetic induction module 4 and the center line of the first magnetic induction module 4 is an angle α between OO1 and OO 2.

Examples thirty-nine

The present embodiment is further defined as one of the first to third embodiments, and the difference between the present embodiment and the thirty-eighth embodiment is that the relative positions of the two first magnetic induction modules or the third magnetic induction modules or the fifth magnetic induction modules are different, and in the present embodiment, the number of the first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is two, and the included angle between the center lines of the two first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is 270 degrees.

Specifically, as shown in fig. 6, for example, on a plane P perpendicular to the rotation axis L of the magnetic component 3, the center line of the first magnetic induction module 4 is a connecting line OO3 between a projection point O3 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P, the center line of the second first magnetic induction module 4 is a connecting line OO4 between a projection point O4 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P, and an angle between the center line of the first magnetic induction module 4 and the center line of the first magnetic induction module 4 is an angle β between OO3 and OO 4.

Examples forty

The present embodiment is further defined as one of the first to third embodiments, and the difference between the present embodiment and the thirty-eighth embodiment is that the number of the first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is different, in the present embodiment, the number of the first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is H, where H is an integer equal to or greater than 3, and the H first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules are equally spaced around the rotation axis of the encoder, and the included angle between the center lines of any two adjacent first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is a mechanical angle of 180 degrees/H.

Specifically, as shown in fig. 7, for example, on a plane P perpendicular to the rotation axis L of the magnetic member 3, the center line of the first one of any adjacent two first magnetic induction modules 4 is a connecting line OO5 between a projection point O5 of the center of the first one first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic member 3 on the plane P; the central line of the second first magnetic induction module 4 in any two adjacent first magnetic induction modules 4 is a connecting line OO6 between a projection point O6 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P; the included angle between the central lines of any two adjacent first magnetic induction modules 4 is the included angle gamma between the OO5 and the OO 6.

Examples forty-one

The present embodiment is further defined as one of the first to third embodiments, and the forty differences between the present embodiment and the embodiment are that the relative positions of the H first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules are different, in the present embodiment, the number of the first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is H, where H is an integer equal to or greater than 3, the H first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules are arranged at equal intervals around the rotation axis of the encoder, and the included angle between the center lines of any two adjacent first magnetic induction modules 4 or the third magnetic induction modules or the fifth magnetic induction modules is a mechanical angle of 360 degrees/H.

Specifically, as shown in fig. 8, for example, on a plane P perpendicular to the rotation axis L of the magnetic member 3, the center line of the first one of any adjacent two first magnetic induction modules 4 is a connecting line OO7 between a projection point O7 of the center of the first one first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic member 3 on the plane P; the central line of the second first magnetic induction module 4 in any two adjacent first magnetic induction modules 4 is a connecting line OO8 between a projection point O8 of the center of the first magnetic induction module 4 on the plane P and a projection point O of the rotation axis L of the magnetic component 3 on the plane P; the included angle between the central lines of any two adjacent first magnetic induction modules 4 is the included angle theta between the OO7 and the OO 8.

Examples forty-two

The present embodiment is further limited to any one of the sixteenth to twenty-second embodiments, wherein the track is a cursor code track.

Examples forty-three

The present embodiment is further limited to any one of the sixteenth to twenty-second embodiments, and the difference between the present embodiment and the forty-second embodiment is that the code channels are different in kind, and in the present embodiment, the code channels are gray code channels.

Examples forty-four

The present embodiment is further limited to any one of the sixteenth to twenty-third embodiments, and the difference between the present embodiment and the forty-second and forty-third embodiments is that the types of the code channels are different, and in the present embodiment, the code channels are M-sequence code channels.

Examples forty-five

The present embodiment is further limited to any one of the sixty-twenty-four embodiments, and the difference between the present embodiment and the forty-two-forty-four embodiments is the type of the code track, in the present embodiment, the code track is a single-turn code track.

The invention provides a motor, which comprises an encoder, wherein the encoder is the encoder.

The invention also provides an automatic device, which comprises a motor, wherein the motor is the motor.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An encoder, comprising a circuit board (1) and a magnetic component (3) movable relative to the circuit board (1), characterized in that the circuit board (1) comprises:

At least one light sensing module (6) is used to sense the change of the light signal of the encoder to generate a light coding signal, so as to obtain the relative position of the encoder at a current moment;

Wherein, the circuit board (1) further comprises:

At least two first magnetic sensing modules (4) are used to sense the change of the magnetic signal of the magnetic component (3) to generate a first magnetic encoding signal to obtain a first running direction of the encoder, and determine a first circle value of the magnetic signal of the encoder at a current moment through the level change of the first magnetic sensing modules; at least one second magnetic sensing module (5) is used to sense the change of the magnetic signal of the magnetic component (3) to generate a second magnetic encoding signal to obtain a first absolute position of the encoder at a current moment;

or,

At least two third magnetic sensing modules, used for sensing the change of the magnetic signal of the magnetic component (3) to generate a third magnetic encoding signal, so as to obtain a second circle value of the magnetic signal of the encoder at a current moment;

at least one fourth magnetic sensing module, used for sensing the change of the magnetic signal of the magnetic component (3) to generate a fourth magnetic encoding signal, and obtaining the second absolute position and the second running direction of the encoder at the current moment through the third magnetic encoding signal and the fourth magnetic encoding signal;

or,

at least two fifth magnetic sensing modules, used for sensing the change of the magnetic signal of the magnetic component (3) to generate a fifth magnetic encoding signal, so as to obtain a third running direction of the encoder, and determine a third circle value of the magnetic signal of the encoder at a current moment through the level change of the fifth magnetic sensing module;

at least one sixth magnetic sensing module, used for sensing the change of the magnetic signal of the magnetic component (3) to generate a sixth magnetic encoding signal, and obtaining a third absolute position of the encoder at a current moment through the fifth magnetic encoding signal and the sixth magnetic encoding signal;

The circuit board (1) further comprises a signal processing unit connected to the first magnetic induction module and the second magnetic induction module, or the third magnetic induction module and the fourth magnetic induction module, or the fifth magnetic induction module and the sixth magnetic induction module, and the optical sensing module (6), wherein the signal processing unit determines the position information of the encoder at a current moment according to the relative position of the encoder at a current moment, and the first running direction, the first circle value and the first absolute position, or the second running direction, the second circle value and the second absolute position, or the third running direction, the third circle value and the third absolute position.

2. The encoder according to claim 1, characterized in that

The at least two first magnetic induction modules (4) or the at least two third magnetic induction modules or the at least two fifth magnetic induction modules output at least one first square wave signal group, and within one mechanical cycle, the first square wave signal group includes N cycles of first square wave signals and N cycles of second square wave signals, wherein N≥1 and N is an integer.

3 . The encoder according to claim 2 , wherein a phase difference between the first square wave signal and the second square wave signal of each of the first square wave signal groups at the same time is 90 degrees.

4. The encoder according to claim 1, characterized in that

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes at least one first sine-cosine signal group, and within one mechanical cycle, the first sine-cosine signal group includes one cycle of the first sine signal and one cycle of the first cosine signal, or,

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes at least one second sine-cosine signal group, and within one mechanical cycle, the second sine-cosine signal group includes two cycles of second sine signals and two cycles of second cosine signals, or,

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes at least one third sine-cosine signal group, and within one mechanical cycle, the third sine-cosine signal group includes M cycles of third sine signals and M cycles of third cosine signals, wherein M≥3 and M is an integer; or

The second magnetically encoded signal, the fourth magnetically encoded signal, or the sixth magnetically encoded signal includes at least one period of a digital signal; or,

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes at least one PWM signal that changes periodically with an angular position; or,

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes at least one period of a triangular wave signal; or,

The second magnetic encoding signal, the fourth magnetic encoding signal, or the sixth magnetic encoding signal includes a trapezoidal wave signal of at least four cycles.

5. The encoder according to claim 1, characterized in that

The optically coded signal includes at least one second square wave signal group, wherein within one mechanical cycle, the second square wave signal group includes H cycles of a third square wave signal and H cycles of a fourth square wave signal, wherein H≥1 and H is an integer; or

The optically coded signal includes at least one fourth sine-cosine signal group. In one mechanical period, the fourth sine-cosine signal group includes K periods of sine signals and K periods of cosine signals, wherein K≥1 and K is an integer.

6 . The encoder according to claim 5 , wherein a phase difference between the third square wave signal and the fourth square wave signal of each of the second square wave signal groups at the same time is 90 degrees.

7. The encoder according to any one of claims 1 to 6, characterized in that

The encoder comprises a code disk provided with a code track, and the light sensing module (6) is used to sense the change of the light signal of the code disk to generate a light coding signal; and/or, the encoder comprises an annular grating provided with a code track, and the light sensing module (6) is used to sense the change of the light signal of the annular grating to generate a light coding signal; and/or, the encoder comprises a drum grating provided with a code track, and the light sensing module (6) is used to sense the change of the light signal of the drum grating to generate a light coding signal; or,

The encoder comprises a grating ruler provided with code tracks, and the light sensing module (6) is used to sense changes in the light signal of the grating ruler to generate a light coding signal.

8. The encoder according to claim 7, characterized in that

The light emitted by the light sensing module (6) is reflected by the code channel and then received again by the light sensing module (6); or,

The encoder further comprises a light source for emitting light, and the light emitted by the light source is received by the light sensing module (6) after being reflected or transmitted through the code channel.

9. The encoder according to claim 1, characterized in that the magnetic component (3) comprises at least one of a magnetic steel, a magnetic ring, a magnetic drum and a magnetic scale.

10. The encoder according to claim 1 is characterized in that the first magnetic sensing module (4) or the second magnetic sensing module (5) or the third magnetic sensing module or the fourth magnetic sensing module or the fifth magnetic sensing module or the sixth magnetic sensing module includes at least one of a Hall switch or a magnetic sensing chip, and the magnetic sensing chip includes at least one of TMR, GMR and AMR.

11. The encoder according to claim 1 is characterized in that the optical coding signal also includes at least one Z pulse signal, and the signal processing unit receives and processes the Z pulse signal to obtain the optical signal circle value of the encoder at a current moment.

12. The encoder according to claim 9, characterized in that

The number of the first magnetic induction modules (4) or the third magnetic induction modules or the fifth magnetic induction modules is two, and the angle between the center lines of the two first magnetic induction modules (4) or the third magnetic induction modules or the fifth magnetic induction modules is 90 degrees or 270 degrees in mechanical angle; or,

The number of the first magnetic induction modules (4) or the third magnetic induction modules or the fifth magnetic induction modules is H, wherein H≥3, H is an integer, the H first magnetic induction modules (4) or the third magnetic induction modules or the fifth magnetic induction modules are arranged at equal intervals around the rotation axis of the encoder, and the angle between any two adjacent first magnetic induction modules (4) or the third magnetic induction modules or the fifth magnetic induction modules is a mechanical angle of 180 degrees/H or 360 degrees/H.

13 . The encoder according to claim 7 , wherein the code channel is any one of a Vernier code channel, a Gray code channel, an M-sequence code channel and a single-turn code channel.

14. A motor, comprising an encoder, characterized in that the encoder is the encoder according to any one of claims 1 to 13.

15. An automation device, comprising a motor, characterized in that the motor is the motor according to claim 14.