CN216770635U - Worm circle counting encoder based on gear tooth composite statistics - Google Patents
Worm circle counting encoder based on gear tooth composite statistics Download PDFInfo
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Abstract
A worm cyclometer encoder based on gear tooth composite statistics, comprising a base gear (4) and a differential gear (5) meshing therewith, said base gear (4) having a fixed single-turn travel, said differential gear (5) providing a differential tooth angular displacement to a second angular measuring mechanism, characterized in that: either the base gear (4) or the differential gear (5) is a worm, and the number of teeth differences between the base gear (4) and the differential gear (5) is 1 or more. Adopt this structure can verify the number of turns that the worm rotated through the number of teeth that the gear rotated, can improve this worm meter circle encoder's based on the compound statistics of the teeth of a cogwheel detection precision, the preparation of being convenient for of the scope that its number of teeth set up moreover also can improve detection efficiency to produce the deviation when reducing number of turns and angle of measurement.
Description
Technical Field
The utility model relates to the technical field of circle counting and rotation angle detection, in particular to a worm circle counting encoder based on gear tooth composite statistics.
Background
The rotary encoder is frequently used in the automobile industry, engineering machinery and automation control of modern society and is used for controlling a stepping motor, a servo motor and various rotating mechanisms.
Rotary encoder mainly used angle adds the detection of rotatory number of turns, and prior art has better solved the detection of single circle absolute angle value, but in many circles meter circle aspect, the technical means is more limited, mainly as follows:
one solution is to use an electronic counting and counting method, which relies on uninterrupted power supply, and usually uses a backup battery pack to solve the problem of rotating and counting the number of turns during a power outage. Once the power failure occurs, the number of turns will return to zero or a fault alarm will be generated.
The other scheme adopts a multi-stage gear reduction method, converts multi-turn counting into multi-stage gear codes, such as common electronic electric meters and water meters, and reads the codes for each stage by utilizing the gear transmission ratio of 10:1 and combining multiple stages to finally obtain data. The working principle of the mechanical clock is the traditional mechanical clock, the gear transmission ratio is 60:1, a multi-circle gear encoder is typically adopted, a multi-stage speed reduction method is also utilized, the measured rotating shaft is decelerated according to 4:1, and then multi-stage circle counting data such as 4 circles, 16 circles, 64 circles, 256 circles, 1024 circles, 4096 circles and the like are obtained, and the actual number of circles is calculated.
In the existing scheme, a gear ring counting technology is adopted, obvious multi-stage speed reduction processing is carried out on a main shaft, and the speed reduction ratio of each stage is set to be more than 1.5:1 so as to obtain an obvious speed reduction effect.
The existing scheme has the problems of large number of gears, large volume and complex mechanical structure in practical application, for example, a driving gear is a 20-tooth double-layer gear, a reduction gear is a 60-tooth double-layer gear matched with 20 teeth, the speed ratio of each stage is 3:1, and after 3-stage speed change, the total speed ratio is 27:1, so that the circle measuring range of the mechanism is 27 circles, and one driving gear, two double-layer speed change gears and one terminal gear are shared for 4 gears in total.
A coding theory technology appears recently, for example, a patent 202010037676.3A mechanical multi-turn absolute value encoder and a turn number decoding method, 2 or more gears are adopted for technology, the number of teeth of each driven wheel is different prime numbers, an equation set is established according to the number of the gears, and the uniqueness of the gear rotation stroke is determined by adopting a table look-up method according to Chinese remainder theorem. However, the computation amount is too strong, the computation load of the single chip microcomputer is too large, and if the tooth slipping phenomenon occurs, the table lookup data is completely disordered even if one tooth jumps, and nonlinear error data occurs, so that the method is difficult to popularize and implement.
Although the technical problem of the total rotation angle of the rotating shaft is solved in the prior art, the structure of the rotating shaft is that a main gear, a large gear, a small gear and other multi-stage gears are matched with each other to measure the angle, the size is large, and meanwhile, each gear needs to be provided with a corresponding detection chip, so that the production cost is high.
SUMMERY OF THE UTILITY MODEL
The utility model provides a worm ring counting encoder which uses fewer gears to obtain a larger detection range and is based on gear tooth composite statistics, and the worm ring counting encoder can effectively improve the precision of ring counting angle measurement detection under the condition of low data volume operation.
According to the technical problem to be solved, the following technical scheme is proposed:
a worm counting ring encoder based on gear tooth composite statistics comprises a base gear and a differential gear meshed with the base gear, wherein the base gear has a fixed single-circle stroke, and the differential gear provides differential tooth angular displacement for a second angle measuring mechanism, and the key points are that: one of the base gear and the differential gear is a worm, and the number of teeth difference between the base gear and the differential gear is 1 or more.
The number of teeth of the worm rotating for one circle is 1.
Firstly, as long as the operation requirement is met, the base gear and the differential gear can be exchanged, the worm rotates for a circle, the number of teeth of a walking wheel is one, the stroke of a single circle is fixed, and the total stroke of the worm can be accumulated along with the accumulation of the number of teeth until the gear is accumulated for a circle, and the total stroke is counted again from zero. Because the single-circle stroke of the worm is used as the measuring basis each time, the accumulated error is eliminated. Meanwhile, the trimming effect is ensured, the decimal is avoided, and the workload of the singlechip can be reduced.
The base number gear or differential gear is also engaged with a secondary differential gear.
The number of the teeth of the differential gear is M1, the number of the teeth of the secondary differential gear is M2, and M1 and M2 are prime numbers.
At least one of M1 or M2 is a composite number.
And the combination is adopted, so that the gears can be conveniently expanded towards three or four settings. The accurate calculation amount of the computer is ensured, and decimal is avoided.
Or the differential gear is also meshed with a gear combination;
or the base gear is also meshed with a gear combination;
or the secondary differential gear is also meshed with a gear combination;
the combinations respectively form a multi-gear combination together, and the number of the gear teeth in the multi-gear combination is an arithmetic progression.
The gear selection rule of the multi-gear combination is as follows: in the multi-gear combination, in the gears without the worm, the number of teeth of any one gear is designed to be the smallest gear and is defined as gear 1, and the number of teeth of the other gears is increased by 1 according to the number of teeth S of gear 2 and gear 3 … in sequence;
in the three-gear combination, the minimum selection of the gear 1 is 2 teeth, the tooth number is increased by 2, and the tooth number selection scheme of the gear 1 is 2, 4 and 6 … …;
in the four-gear combination, the minimum selection of the gear 1 is 3 teeth, the tooth number is increased by 3, and the tooth number selection scheme of the gear 1 is 3, 6 and 9 … …;
in a five gear combination, gear 1 has a minimum of 8 teeth with alternating increments of 4 and 8, and gear 1 has a tooth count selected from 8, 12, 20, 24, 32, 36, 44, 48, 56 … …;
in a six gear combination, gear 1 has 15 teeth selected for minimization, with the number of teeth alternately increasing at 5 and 15, and gear 1 has 15, 20, 35, 40, 55, 60, 75, 80, 95, 100 … … teeth selected;
in a seven gear combination, the minimum selection for gear 1 is 24 teeth with alternating increments of 6 and 24, and the tooth selection for gear 1 is 24, 30, 54, 60, 84, 90, 114, 120, 144, 150 … ….
In the multi-gear combination, the number of teeth of the three-stage differential gear meshed with the two-stage differential gear is set to be M3;
or the M1/L, M2 and the M3 are arithmetic progression;
or the M1 and the M2/L, M3 are arithmetic progression;
or the M1, the M2 and the M3/L are arithmetic progression;
l is an integer of 2 or more.
The diameter of one gear is increased, and the transmission shaft of the gear can be thickened. The hollow design and assembly are facilitated. The lap counting effect is consistent with the difference series of M1, M2, M3 and the like.
By adopting the structure, the measuring range can be controllably increased, and more detection environments can be adapted according to requirements. By adopting the structure, the secondary differential gear is also changed into a gear for measuring angles and turns, and the measuring range of the worm metering encoder based on gear tooth composite statistics is further increased.
The N angle measuring mechanism comprises an N coded disc and an N sensor, the N coded disc rotates synchronously with the N gear, the N sensor is matched with the N coded disc to measure, the N coded disc is fixed on the N gear, and the N sensor is installed in an aligning mode with the N coded disc or is installed along the circumferential direction of the N coded disc. The increase of the circle counting range can be realized, meanwhile, one gear is enlarged, and a shaft matched with the gear can be designed to be thick, so that the hollow design of the shaft is facilitated.
Compared with the prior art, the utility model has the beneficial effects that:
according to the worm circle counting encoder based on the gear tooth composite statistics, the number of teeth formed by rotation between the worm and the gear is different, the number of teeth is offset to be detected, the overall deviation of the gear can be reduced to the deviation between single outer teeth, the precision of a measuring assembly is effectively improved, accumulated errors are eliminated, larger angle values are recorded, the stability of the measuring assembly is effectively improved, the calculating range is small and exquisite in design structure, the worm circle counting encoder can also detect more fine parts and adapt to the detecting environment, in the working process of measuring angles, the repeatability of measurement is more perfect, the values are stable, and the service life is effectively prolonged.
Further, if a larger circle counting range is to be obtained, the traditional structure needs multi-stage gears to complete, the larger the reduction ratio is, the better the reduction ratio is, because the larger reduction ratio can obtain the larger circle counting range, which means that more gears and corresponding chips are needed to complete; by adopting the structure, to obtain a larger circle counting range, the smaller the reduction ratio is, the better the reduction ratio is, the use of gears and chips is reduced, and the cost is greatly saved.
Drawings
FIG. 1 is a schematic view of a worm and differential gear engagement structure;
FIG. 2 is a first schematic view of the engagement of the two-stage differential gear;
FIG. 3 is a second construction of the two-stage differential gearing;
fig. 4 is a schematic structural view of gear combination meshing.
Detailed Description
The present invention will be further described with reference to the following examples and the accompanying drawings.
Please refer to fig. 1: the utility model provides a worm circle counting encoder based on gear tooth composite statistics, which comprises a base gear 4 and a differential gear 5 meshed with the base gear, wherein the base gear 4 has a fixed single-circle stroke, the differential gear 5 provides differential tooth angular displacement for a second angle measuring mechanism, any one of the base gear 4 or the differential gear 5 is a worm, and the tooth difference between the base gear 4 and the differential gear 5 is more than or equal to 1.
The number of teeth of the worm rotating for one circle is 1.
As shown in fig. 2 and 3: the protected base gear 4 or differential gear 5 is also engaged with a secondary differential gear 10.
The number of teeth of the differential gear 5 is M1, the number of teeth of the secondary differential gear 10 is M2, and M1 and M2 are prime numbers.
At least one of M1 or M2 is a composite number.
As shown in fig. 4: or the differential gear (5) is also meshed with a gear combination;
alternatively, the base gear 4 is also meshed with a gear combination;
alternatively, the secondary differential gear 10 is also engaged with a gear combination;
the combinations respectively form a multi-gear combination together, and the number of the gear teeth in the multi-gear combination is an arithmetic progression.
The gear selection rule of the multi-gear combination is as follows: in the multi-gear combination, in the gears without the worm, the number of teeth of any one gear is designed to be the smallest gear and is defined as gear 1, and the number of teeth of the other gears is increased by 1 according to the number of teeth S of gear 2 and gear 3 … in sequence;
in the three-gear combination, the minimum selection of the gear 1 is 2 teeth, the tooth number is increased by 2, and the tooth number selection scheme of the gear 1 is 2, 4 and 6 … …;
in the four-gear combination, the minimum selection of the gear 1 is 3 teeth, the tooth number is increased by 3, and the tooth number selection scheme of the gear 1 is 3, 6 and 9 … …;
in a five gear combination, gear 1 has a minimum of 8 teeth with alternating increments of 4 and 8, and gear 1 has a tooth count selected from 8, 12, 20, 24, 32, 36, 44, 48, 56 … …;
in a six gear combination, gear 1 has 15 teeth selected for minimization, with the number of teeth alternately increasing at 5 and 15, and gear 1 has 15, 20, 35, 40, 55, 60, 75, 80, 95, 100 … … teeth selected;
in a seven gear combination, the minimum selection for gear 1 is 24 teeth with alternating increments of 6 and 24, and the tooth selection for gear 1 is 24, 30, 54, 60, 84, 90, 114, 120, 144, 150 … ….
In the multi-gear combination, the number of teeth of the three-stage differential gear meshed with the two-stage differential gear (10) is set to be M3;
or the M1/L, M2 and the M3 are arithmetic progression;
or the M1 and the M2/L, M3 are arithmetic progression;
or the M1, the M2 and the M3/L are arithmetic progression;
l is an integer of 2 or more.
Claims (8)
1. A worm cyclometer encoder based on gear tooth composite statistics, comprising a base gear (4) and a differential gear (5) meshing therewith, said base gear (4) having a fixed single-turn travel, said differential gear (5) providing a differential tooth angular displacement to a second angular measuring mechanism, characterized in that: either the base gear (4) or the differential gear (5) is a worm, and the number of teeth differences between the base gear (4) and the differential gear (5) is 1 or more.
2. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 1, wherein: the number of teeth of the worm rotating for one circle is 1.
3. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 1, wherein: the protected basic number gear (4) or the differential gear (5) is also meshed with a secondary differential gear (10).
4. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 3, wherein: the number of teeth of the differential gear (5) is M1, the number of teeth of the secondary differential gear (10) is M2, and M1 and M2 are prime numbers.
5. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 4, wherein: at least one of M1 or M2 is a composite number.
6. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 4 or 5, wherein:
or the differential gear (5) is also meshed with a gear combination;
or the base gear (4) is also meshed with a gear combination;
or the secondary differential gear (10) is also meshed with a gear combination;
the combinations respectively form a multi-gear combination together, and the number of the gear teeth in the multi-gear combination is an arithmetic progression.
7. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 6, wherein: the gear selection rule of the multi-gear combination is as follows: in the multi-gear combination, in the gears without the worm, the number of teeth of any one gear is designed to be the smallest gear and is defined as gear 1, and the number of teeth of the other gears is increased by 1 according to the number of teeth S of gear 2 and gear 3 … in sequence;
in the three-gear combination, the minimum selection of the gear 1 is 2 teeth, the tooth number is increased by 2, and the tooth number selection scheme of the gear 1 is 2, 4 and 6 … …;
in the four-gear combination, the minimum selection of the gear 1 is 3 teeth, the tooth number is increased by 3, and the tooth number selection scheme of the gear 1 is 3, 6 and 9 … …;
in a five gear combination, gear 1 has a minimum of 8 teeth with alternating increments of 4 and 8, and gear 1 has a tooth count selected from 8, 12, 20, 24, 32, 36, 44, 48, 56 … …;
in a six gear combination, the minimum selection of gear 1 is 15 teeth, the number of teeth increases alternately by 5 and 15, and the selection of the number of teeth of gear 1 is 15, 20, 35, 40, 55, 60, 75, 80, 95, 100 … …;
in a seven gear combination, the minimum selection for gear 1 is 24 teeth with alternating increments of 6 and 24, and the tooth selection for gear 1 is 24, 30, 54, 60, 84, 90, 114, 120, 144, 150 … ….
8. The worm metering ring encoder based on gear tooth composite statistics as claimed in claim 6, wherein: in the multi-gear combination, the number of teeth of the three-stage differential gear meshed with the two-stage differential gear (10) is set to be M3;
or the M1/L, M2 and the M3 are arithmetic progression;
or the M1 and the M2/L, M3 are arithmetic progression;
or the M1, the M2 and the M3/L are arithmetic progression;
l is an integer of 2 or more.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114323079A (en) * | 2021-12-31 | 2022-04-12 | 重庆诺柏恩自动化技术有限公司 | Cumulative error-free gear encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114323079A (en) * | 2021-12-31 | 2022-04-12 | 重庆诺柏恩自动化技术有限公司 | Cumulative error-free gear encoder |
| CN114323079B (en) * | 2021-12-31 | 2024-11-26 | 重庆诺柏恩自动化技术有限公司 | Accumulating type error-free gear encoder |
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