CN114440941B - Magnetoelectric multi-ring coding device - Google Patents
Magnetoelectric multi-ring coding device Download PDFInfo
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- CN114440941B CN114440941B CN202210090270.0A CN202210090270A CN114440941B CN 114440941 B CN114440941 B CN 114440941B CN 202210090270 A CN202210090270 A CN 202210090270A CN 114440941 B CN114440941 B CN 114440941B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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Abstract
The invention provides a magnetoelectric multi-turn coding device, which comprises: the device comprises a shell, a cover plate, a gear transmission mechanism, a magnetic induction device and a data acquisition module; the gear transmission mechanism is arranged on the shell and comprises a main gear and a plurality of gear sets which are meshed and connected, the main gear is connected with a motor shaft through a main shaft, and gears of each gear set are arranged on the shell through gear shafts respectively; the magnetic induction device comprises a plurality of magnetic columns and magnetic chips, wherein the magnetic columns are respectively arranged on the main shaft and the last gear of each gear set and rotate along with the rotation of the corresponding gear. The invention can reduce the manufacturing cost of the encoder and improve the environmental suitability.
Description
Technical Field
The application relates to the field of magnetoelectricity, in particular to a magnetoelectricity multi-ring coding device.
Background
There are many applications for electric motors that require measuring the speed of the motor or the number of turns and angles the motor has made. The number of turns and the angle of present general adoption photoelectric encoder to the motor are measured, however photoelectric encoder is because the structure is complicated, and measurement cost is high, and photoelectric encoder is higher to the environmental requirement because self theory of operation simultaneously, and this application that leads to photoelectric encoder receives the restriction.
Disclosure of Invention
In view of the above technical problems, an embodiment of the present invention provides a magnetoelectric multi-turn coding device, which can solve at least one of the above technical problems.
The technical scheme adopted by the application is as follows:
the embodiment of the invention provides a magnetoelectric multi-turn coding device, which comprises: the device comprises a shell, a cover plate, a gear transmission mechanism, a magnetic induction device and a data acquisition module; the cover plate is used for covering the shell;
the gear transmission mechanism is arranged on the shell and comprises a main gear G in meshed connection 0 And p gear sets G 1 ，G 2 ，……，G p (ii) a Wherein the main gear G 0 The gear of each gear set is arranged on the shell through a gear shaft; in the rotation process of a motor shaft, the main gear drives the gears of the p gear sets to rotate;
the magnetic induction device comprises p +1 magnetic columns M 0 ，M 1 ，M 2 ，……，M p And corresponding p +1 magnetic chips C 0 ，C 1 ，C 2 ，……，C p Therein, magnetismColumn M 0 Arranged on the main shaft, a magnetic column M 1 ，M 2 ，……，M p Are respectively arranged on the gear group G 1 ，G 2 ，……，G p The last gear rotates along with the rotation of the corresponding gear, p +1 magnetic chips are arranged on the cover plate, each magnetic chip is positioned right above the corresponding magnetic column, and the magnetic chip C 0 ，C 1 ，C 2 ，……，C p Respectively has a resolution of R 0 ，R 1 ，R 2 ，……，R p ；
Wherein, the gear set G 1 And a main gear G 0 Has a transmission ratio of T 1 Gear set G k And a gear unit G k-1 Has a transmission ratio of T k K is from 2 to p;
when the gear set is driven by the main gear to rotate, each magnetic column generates a magnetic induction signal and is received by a corresponding magnetic chip, and the magnetic chip converts the received magnetic induction signal into a coded signal;
the data acquisition module is arranged on the cover plate, is connected with the p +1 magnetic chips and is used for executing the following operations in each set calculation period:
s100, acquiring a code signal converted by each magnetic chip;
s200, based on the magnetic chip C obtained currently 0 The rotation angle of the motor shaft is obtained through the coded signals and the resolution ratio;
s300, based on the magnetic chip C obtained currently 1 ，C 2 ，……，C p The number of turns of the motor shaft is obtained through the coded signal, the resolution and the transmission ratio;
wherein the number of rotations of the motor shaft is initialized to 0 at the initial time of each set calculation cycle.
The utility model provides a many rings of encoder of magnetoelectric adopts gear revolve to drive the magnetism post and produces the magnetic induction signal in order to reflect the rotatory number of turns of motor shaft, guarantees the measurement accuracy of encoder through the drive ratio between the gear train of each grade, compares with current photoelectric encoder, can reduce manufacturing cost and improve the environment suitability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a partial front view of a magneto-electric multi-coil encoding device provided in an embodiment of the present application;
fig. 2 is a partial top view of a magnetoelectric multi-turn coding device provided in an embodiment of the present application.
(description of reference numerals)
1-a first cone pulley; 2-a second cone pulley; 3-a first gear; 4-a third cone pulley; 5-a fourth cone pulley; 6-a second gear; 7-a fifth cone pulley; 8-a sixth cone pulley; 9-a third gear; 10-a seventh cone pulley; 11-eighth cone pulley.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Fig. 1 is a partial front view of a magneto-electric multi-coil encoding device provided in an embodiment of the present application; fig. 2 is a partial top view of a magneto-electric multi-turn coding device provided in an embodiment of the present application.
As shown in fig. 1 and fig. 2, the present application provides a magneto-electric multi-coil encoding device, including: the device comprises a shell, a cover plate, a gear transmission mechanism, a magnetic induction device and a data acquisition module.
In an embodiment of the invention, the cover plate is used for covering the shell to form an accommodating space for accommodating the gear transmission mechanism, the magnetic induction device and the data acquisition module.
Wherein the gear transmission mechanism is arranged on the shell and comprises a main gear G in meshed connection 0 And p gear sets G 1 ，G 2 ，……，G p And p is an integer greater than 1.
In the embodiment of the present invention, the main gear G 0 And p gear sets are meshed according to the set meshing relation to output the set transmission ratio. As shown in FIG. 1, a main gear G 0 The measuring device is arranged at the center of the top surface of the shell and is connected with the output end of the measured motor, namely a motor shaft through a main shaft. Each gear set is arranged on the main gear G through a corresponding gear shaft 0 And is arranged to be rotatable with rotation of the main gear. Each gear shaft is fixed on the shell, and the gear of each gear set is rotatably arranged on the corresponding gear shaft, in particular, the gear of each gear set can be rotatably arranged on the corresponding gear shaft through the central hole.
In the embodiment of the invention, the gear set G 1 And a main gear G 0 Has a transmission ratio of T 1 Gear set G k And a gear unit G k-1 Has a transmission ratio of T k And k is 2 to p. That is, the main gear G 0 Rotate 360 degrees after rotating 1 circle, and the gear group G 1 Last gear 1/T 1 Looping; gear set G k The last gear in (1) turn, G k-1 Last gear wheel in (1/T) k And (5) looping.
Further, in the embodiment of the present invention, the magnetic induction device may include p +1 magnetic pillars M 0 ，M 1 ，M 2 ，……，M p And corresponding p +1 magnetic chips C 0 ，C 1 ，C 2 ，……，C p Wherein, the magnetic column M 0 Arranged on the main shaft, magnetic column M 1 ，M 2 ，……，M p Are respectively arranged on the gear group G 1 ，G 2 ，……，G p And p +1 magnetic chips are arranged on the cover plate, and each magnetic chip is positioned above the corresponding magnetic column, and the magnetic chip C 0 ，C 1 ，C 2 ，……，C p Respectively has a resolution of R 0 ，R 1 ，R 2 ，……，R p . In the present inventionIn the embodiment, the resolution of the magnetic core plate refers to how many positions the gear can be divided into by one rotation, for example, the resolution is 12, which means that 12 positions can be obtained when the gear rotates by one rotation.
In one embodiment, the magnetic column M 0 May be provided on the spindle by means of, for example, adhesive bonding. The last gear of each gear set is upwards protruded to form a fixed part. In one exemplary embodiment, the fixing portion may be formed to extend upward in a circumferential direction of the central hole of the corresponding gear, and a fixing hole into which the magnetic pole is inserted is formed. Magnetic column M 1 ，M 2 ，……，M p Each of the magnetic pillars may be inserted into a corresponding fixing hole. In an exemplary embodiment, the diameter of the fixing hole may be set such that the magnetic cylinder is inserted without shaking, i.e., the magnetic cylinder may be stably coupled to the gear. In another exemplary embodiment, the diameter of the fixing hole may be set to be slightly larger than that of the magnetic cylinder, and the magnetic cylinder may be adhered to the corresponding gear by an adhesive or the like after the magnetic cylinder is inserted into the corresponding fixing hole. In order to enable the magnetic column to be better connected with the gear, a plurality of notches can be formed in the fixing portion and used for smearing adhesive. Preferably, three notches may be provided, which are evenly distributed in the circumferential direction of the fixing portion.
In the embodiment of the invention, when the gear set is driven by the main gear to rotate, each magnetic column generates a magnetic induction signal and is received by the corresponding magnetic chip, and the magnetic chip converts the received magnetic induction signal into a code signal. In the embodiment of the present invention, the magnetic pillar and the magnetic chip may be existing products. The coded signal is a binary coded signal, and the mode of converting the received magnetic induction signal into the binary coded signal belongs to the prior art.
Wherein, the magnetic pole M is arranged on the main shaft 0 Corresponding magnetic chip C 0 Resolution R of 0 Can be a magnetic chip C 0 Resolution of itself, R in one exemplary embodiment 0 =2 12 =4096, i.e. main gear G 0 One rotation of the magnetic core C 0 4096 coded signals can be output.
In the inventionIn the illustrated embodiment, the core C 1 ，C 2 ，……，C p Resolution R of 1 ，R 2 ，……，R p Respectively, with a transmission ratio T 1 ，T 2 ，……，T p In contrast, the resolution of each magnetic chip can be set by customization, for example, according to the requirements of a user.
In another exemplary embodiment of the invention, the core plate C 1 ，C 2 ，……，C p Resolution R of 1 ，R 2 ，……，R p Respectively, with a transmission ratio T 1 ，T 2 ，……，T p Same, i.e. resolution R 1 May be equal to the corresponding transmission ratio T 1 Resolution R k+1 May be equal to the corresponding transmission ratio T k+1 I.e. the resolution of the core plate corresponding to the magnetic cylinder provided on the last gear of each set is equal to the transmission ratio achieved by the corresponding set.
In the embodiment of the present invention, the interval between each magnetic pillar and the corresponding core plate is set to satisfy the distance that the core plate can normally operate.
Further, in the embodiment of the present invention, the data acquisition module may be disposed on the cover plate and connected to the p +1 magnetic chips, and configured to perform the following operations in each set calculation cycle:
s100, acquiring a code signal converted by each magnetic chip;
s200, based on the magnetic chip C obtained currently 0 The rotation angle of the motor shaft is obtained through the coded signals and the resolution;
s300, based on the magnetic chip C obtained currently 1 ，C 2 ，……，C p The number of turns of the motor shaft is obtained through the coded signal, the resolution and the transmission ratio;
wherein the number of turns of the motor shaft is initialized to 0 at the initial moment of each set counting cycle, i.e. the number of turns of the motor shaft is counted again at each counting cycle. In the embodiment of the present invention, the initial time is a time when the positions of the respective gears determined based on the received number signals are all the initial positions. The initial position may be a custom position.
In the embodiment of the present invention, the set calculation period may be
And n is the rotating speed of the motor shaft. That is, in the embodiment of the present invention, the maximum number of rotations of the motor shaft can be recorded
。
In one embodiment, the last gear set, G, may be p Automatically enters the next calculation period when the last gear rotates for one circle. Specifically, the apparatus provided in the embodiment of the present invention may further include a counter C, and the data acquisition module is further configured to perform the following operations:
and S10, initializing the counter C to be 0 at the initial time of the current calculation period.
I.e. at the initial instant of each calculation cycle, C =0.
S20, based on the reception of C p Transmitted number signal determination G p Again in the initial position, C =1 is set and the current calculation procedure is ended.
Further, the angle a = (L) of motor shaft rotation 0 /R 0 ) 360 deg., wherein L 0 Is based on a magnetic chip C 0 Primary gear G determined by the coded signal 0 Position relative to the initial position. Based on magnetic chip C 0 Primary gear G determined by the coded signal 0 The position relative to the initial position may be prior art, for example, if the core piece R 0 =2 12 The position can be represented by 12-bit binary, for example, the encoded signal is 000000000000 to represent the initial position (0 position), 000000000001 to represent the 1 st position, etc.
In the embodiment of the present invention, the main gear G 0 The number of turns, i.e. the number of turns N of the motor shaft, can be determined by the number of turns recorded by the last gear of each gear set, in particular N = [ L2/R ] 2 *T 2 ]*T 1 +[L3/R 3 *T 3 ]*T 2 *T 1 +…+[Lp/R p *T p ]*T p-1 *…*T 1 L1, L2, …, lp respectively represent the magnetic core C 1 、C 2 …, cp, the position of the last gear of the corresponding gear set relative to the initial position, e.g., lj represents the position based on the core plate C j Is determined by the code signal j The position of the last gear of (1) relative to the initial position, j being 1 to p, the symbol [ [ alpha ] ]]Meaning rounding. For the same reason, based on the magnetic chip C 1 Is determined by the code signal 1 Relative to the initial position and based on the core C i Is determined by the code signal i The position of the last gear relative to the initial position of (a) may be prior art.
In the embodiment of the invention, the number of the rotation turns of the main gear is obtained by rounding the number of the rotation turns of the multi-stage gear, so that the obtained number of the rotation turns of the motor shaft is more accurate.
Further, in the embodiment of the present invention, the data acquisition module is further connected to a remote control end, and is configured to send the obtained rotation angle and the obtained number of turns of the motor shaft to the remote control end. The data acquisition module can send the obtained rotation angle and the number of turns of the motor shaft to the remote control end through an SPI protocol.
In the embodiment of the invention, the cover plate can be provided with a circuit board, and the data acquisition module can be an MCU. The magnetic chip and the MCU can be fixed on the circuit board.
In an exemplary embodiment of the invention, p =3. Further, T 1 =T 2 =T 3 . Preferably, T 1 =T 2 =T 3 =16. In this example, G 3 Is 1 revolution, the main gear wheel rotates 4096 revolutions, i.e. the apparatus of the present embodiment records a maximum number of revolutions of the motor shaft of 4096 revolutions.
In one embodiment, set magnetic chip C 1 ，C 2 ，C 3 If at a certain moment in time, the resolution of (2) is all 64Based on magnetic chip C 1 ，C 2 ，C 3 Respectively obtained from the encoded signals of 1 ，G 2 And G 3 Is 35,6 and 8, the number of turns N = [35/64 × 16 ] of the motor shaft corresponding to the current time point]+ [6/64*16]*16+[8/64*16]*16*16= 8+16+512=536。
In an embodiment of the invention, the number of teeth, module and ratio of each gear may be based on T 1 、T 2 、…、T k+1 And the area S of the housing. Specifically, the determination may be based on the following steps:
step one, based on T 1 、T 2 、…、T k+1 Obtaining m tooth numbers, modulus and transmission ratio of each gear in the main gear and each gear set;
and secondly, selecting the optimal tooth number, modulus and transmission ratio from the obtained m tooth numbers, moduli and transmission ratios of the main gear and each gear in each gear set based on the area S of the shell. In this way, since the parameters of the gear are determined based on the area of the housing, the size of the housing can be made as small as possible.
In one exemplary embodiment, gear set G 1 Comprises a first step pulley 1, a second step pulley 2, a first gear 3, a third step pulley 4 and a fourth step pulley 5; gear set G 2 Comprises a second gear 6, a fifth cone pulley 7 and a sixth cone pulley 8; gear set G 3 Comprising a third gear 9, a seventh cone pulley 10 and an eighth cone pulley 11. Wherein, the fourth cone pulley 5, the sixth cone pulley 8 and the eighth cone pulley 11 are provided with magnetic columns. Each cone pulley includes an input gear and an output gear that rotate coaxially. Wherein, the input gear of the first cone pulley 1 is meshed with the main gear, the output gear of the first cone pulley 1 is meshed with the input gear of the second cone pulley 2, the output gear of the second cone pulley 2 is connected with the input gear of the third cone pulley 4 through the first gear 3, namely the first gear 3 is respectively meshed with the output gear of the second cone pulley 2 and the input gear of the third cone pulley 4, the output gear of the third cone pulley 4 is meshed with the input gear of the fourth cone pulley 5, the output gear of the fourth cone pulley 5 is connected with the input gear of the fifth gear 7 through the second gear 6, namely the second gear 6 is respectively meshed with the output gear of the fourth cone pulley 5 and the input gear of the fifth cone pulley 7, and the third gear 6 is respectively meshed with the output gear of the fourth cone pulley 5 and the input gear of the fifth cone pulley 7The output gear of the fifth step pulley 7 is meshed with the input gear of the sixth step pulley 8, the output gear of the sixth step pulley 8 is connected with the input gear of the seventh gear 10 through the third gear 9, namely, the third gear 9 is respectively meshed with the output gear of the sixth step pulley 8 and the input gear of the seventh step pulley 10, and the output gear of the seventh step pulley 10 is meshed with the eighth step pulley 11. The diameter of the input gear of the first step pulley 1 is larger than that of the output gear of the first step pulley 1, and the diameters of the input gears of the second step pulley 2, the third step pulley 4, the fifth step pulley 7, the sixth step pulley 8 and the seventh step pulley 10 are all larger than those of the corresponding output gears.
In one embodiment, T is satisfied at a shell diameter of 46.80mm 1 =T 2 =T 3 In the case of =16, the parameters of each gear obtained are:
(1) The number of teeth of the main gear is 30, the number of teeth of the input gear of the first step gear 1 is 30, the number of teeth of the output gear of the first step gear 1 is 48, the number of teeth of the input gear of the second step gear 2 is 60, the number of teeth of the output gear of the second step gear 2 is 15, the number of teeth of the first gear 3, the second gear 6 and the third gear 9 is 15, the number of teeth of the input gears of the third step gear 4, the fifth step gear 7 and the seventh step gear 10 is 40, the number of teeth of the output gear is 10, the number of teeth of the input gears of the fourth step gear 5, the sixth step gear 8 and the eighth step gear 11 is 48, and the number of teeth of the output gear is 12.
(2) The pitch circle diameter of the main gear is 13.5mm, the pitch circle diameter of the input gear of the first cone 1 is 13.5mm, the pitch circle diameter of the output gear of the first cone 1 is 11.52mm, the pitch circle diameter of the input gear of the second cone 2 is 14.4mm, the pitch circle diameter of the output gear of the second cone 2 is 3.6mm, the pitch circle diameters of the first gear 3, the second gear 6 and the third gear 9 are all 3.6mm, the pitch circle diameters of the input gears of the third cone 4, the fifth cone 7 and the seventh cone 10 are 9.6mm, the pitch circle diameter of the output gear is 2.6mm, the pitch circle diameters of the input gears of the fourth cone 5, the sixth cone 8 and the eighth cone 11 are 12.48mm, and the pitch circle diameter of the output gear is 2.88mm.
(3) The transmission ratio between the main gear and the input gear of the first cone pulley is 1:1; the transmission ratio between the output gear of the first step pulley and the input gear of the second step pulley is 4:5, the transmission ratio between the output gear of the second step pulley and the first gear is 1:1, and the transmission ratio between the first gear and the input gear of the third step pulley is 3:8, the transmission ratio between the output gear of the third step pulley and the input gear of the fourth step pulley is 5.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present application. The scope of the disclosure of the present application is defined by the appended claims.
Claims (8)
1. A magneto-electric multi-turn encoding device, comprising: the device comprises a shell, a cover plate, a gear transmission mechanism, a magnetic induction device and a data acquisition module; the cover plate is used for covering the shell;
the gear transmission mechanism is arranged on the shell and comprises a main gear G in meshed connection 0 And p gear sets G 1 ，G 2 ，……，G p (ii) a Wherein the main gear G 0 The gear of each gear set is arranged on the shell through a gear shaft; in the rotation process of a motor shaft, the main gear drives the gears of the p gear sets to rotate;
the magnetic induction device comprises p +1 magnetic columns M 0 ，M 1 ，M 2 ，……，M p And corresponding p +1 magnetic chips C 0 ，C 1 ，C 2 ，……，C p Wherein, the magnetic column M 0 Arranged on the main shaft, magnetic column M 1 ，M 2 ，……，M p Are respectively arranged on the gear group G 1 ，G 2 ，……，G p The last gear rotates along with the rotation of the corresponding gear, p +1 magnetic chips are arranged on the cover plate, each magnetic chip is positioned right above the corresponding magnetic column, and the magnetic chip C 0 ，C 1 ，C 2 ，……，C p Respectively has a resolution of R 0 ，R 1 ，R 2 ，……，R p ；
Wherein, the gear set G 1 And a main gear G 0 Has a transmission ratio of T 1 Gear set G k And a gear unit G k-1 Has a transmission ratio of T k K is from 2 to p;
when the gear set is driven by the main gear to rotate, each magnetic column generates a magnetic induction signal and is received by a corresponding magnetic chip, and the magnetic chip converts the received magnetic induction signal into a coded signal;
the data acquisition module is arranged on the cover plate, is connected with the p +1 magnetic chips and is used for executing the following operations in each set calculation period:
s100, acquiring a code signal converted by each magnetic chip;
s200, based on the magnetic chip C obtained currently 0 The rotation angle of the motor shaft is obtained through the coded signals and the resolution;
s300, based on the magnetic chip C obtained currently 1 ，C 2 ，……，C p The number of turns of the motor shaft is obtained through the coded signal, the resolution and the transmission ratio;
wherein, at the initial moment of each set calculation cycle, the number of turns of the motor shaft is initialized to 0; wherein, the number of turns of the motor shaft
N＝[L1/R 1 *T 1 ]+[L2/R 2 *T 2 ]*T 1 +[L3/R 3 *T 3 ]*T 2 *T 1 +…+[Lp/R p *T p ]*T p-1 *…*T 1 ，
L1, L2, …, lp respectively represent the magnetic core C 1 、C 2 …, cp, the position of the last gear of the corresponding gear set relative to the initial position, any position Lj having a value from 0 to R j -1；[]Meaning that, by rounding, j takes on values from 1 to p.
2. The apparatus of claim 1, wherein the set calculation period is
Wherein n is the rotation speed of the motor shaft.
3. Device according to claim 1, characterized in that the angle a = (L) over which the motor shaft rotates 0 /R 0 ) 360 deg., wherein L 0 Is based on a magnetic chip C 0 Primary gear G determined by the coded signal 0 Position relative to the initial position.
4. The device of claim 1, wherein the data acquisition module is further connected to a remote control end for transmitting the obtained angle and number of turns of the motor shaft to the remote control end.
5. The apparatus of claim 1,
and a fixing part is formed on the last gear of each gear set in an upward protruding mode and used for fixing the corresponding magnetic column.
6. The apparatus of claim 1, wherein p =3.
7. The device of claim 6, wherein T is T 1 ＝T 2 ＝T 3 。
8. The device of claim 7Characterised by T 1 ＝T 2 ＝T 3 ＝16。
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