JP5064050B2 - Linear encoder device, linear motor and single-axis robot - Google Patents

Description

  The present invention relates to a linear encoder device having a linear scale and a detection head for reading the linear scale, a linear motor equipped with the linear encoder device, and a single-axis robot using the linear motor.

2. Description of the Related Art Conventionally, a linear motor or the like in which position detection is performed by a linear encoder device for movement control and motor drive control is known (for example, Patent Document 1). As such a linear encoder device, in general, an incremental type that detects a moving position with reference to an origin position set at a specific position (for example, both ends of the scale) on a linear scale, and an absolute type that can detect an absolute position are used. Things are known.
Japanese Patent Laid-Open No. 2005-51856

  In a device such as a linear motor, there is a tendency to use a simple and inexpensive increment type linear encoder device as compared with an absolute type device because of demands for ease of handling and cost reduction. However, since the incremental type must always detect the origin position, linear motors and other devices with a built-in linear encoder need to return to the origin when the power is turned on. Therefore, there is a drawback that it takes time to stand up (preparation). Therefore, it is required to shorten the rise time while maintaining the advantages such as the simplicity of the increment type.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to make it possible to further shorten the rise time in an apparatus such as a linear motor with the same configuration as that of an incremental linear encoder apparatus.

In view of the above circumstances, the present invention is provided in a linear scale that is linearly arranged on a fixed portion and has position information that can be read magnetically or optically, and a movable portion that moves along the linear scale. The linear scale device includes a detection head that reads position information of the linear scale, and an arithmetic processing unit that inputs and processes a signal from the detection head, and the linear scale is used as the position information. An increment indicator unit that records a plurality of pieces of information indicating an increment position at a constant pitch; and a reference indicator unit that records a plurality of pieces of information indicating a reference position different from the increment position at a predetermined pitch. Is three or more pieces of continuous information arbitrarily extracted from the information indicating the reference position, and is specified among n pieces of preset information The combination of the pitch of the information and each of the other information, which pitch between the n pieces of n any of the same combined with differently each information also about the information to be continuously extracted to another optional is set The arithmetic processing unit causes the detection head to detect the n pieces of information of the reference indicator unit, obtains a combination of the pitches related to the information, and based on the combination of the pitches, the arithmetic unit on the linear scale The absolute position of the movable part is determined (Claim 1).

  According to this linear encoder device, the detection head detects n pieces of continuous information of the reference index part, and the arithmetic processing part obtains the combination of the pitches regarding the n pieces of information, and based on this combination, the movable part The absolute position of is determined. That is, as a result of setting the pitch between the information of the reference index part as described above, the combination of the pitches related to the n pieces of information is the only value (combination) on the linear scale. Therefore, the absolute position of the movable part is specified by examining the position of the information related to the combination on the linear scale based on this combination.

  In this case, the arithmetic processing unit moves the detection head relative to the linear scale while the detection head moves the n pieces of information of the reference indicator and the corresponding information of the increment indicator. And a combination of the pitches for the n pieces of information is calculated based on the detection result of each piece of information (claim 2).

  In this configuration, with the movement of the detection head, the n pieces of information of the reference indicator portion and the information of the increment indicator portion corresponding to the movement are detected, and the reference indicator portion is based on the detection result of the information of the increment indicator portion. The pitch and the combination of the n pieces of information are obtained.

  In this case, when the n pieces of information are first to nth pieces of information in order from the endmost information, the combination of the pitches is a combination of the pitches of the first information and the other pieces of information ( Claim 3).

  In this configuration, with the movement of the detection head, the pitch calculation based on the first information is efficiently performed.

  On the other hand, in the linear encoder device according to the first aspect, the detection head is configured to be capable of simultaneously detecting the n or more pieces of information of the reference index unit, and the arithmetic processing unit stops the detection head. In this state, the n pieces of information of the reference indicator unit may be detected at the same time, and a combination of the pitches related to the n pieces of information may be obtained based on the detection result.

  In this configuration, the n pieces of information of the reference indicator portion are detected in a state where the detection head is stationary, and the combination of the pitches is obtained directly from this detection result, that is, without using the information of the increment indicator portion.

  In the linear encoder device as described above, the information of the reference index portion is in the same position as any information of the increment indicator portion in the longitudinal direction of the linear scale, and the pitch of the information between the increment indicator portions is the same. It is preferable that recording is performed at an integer multiple pitch (claim 5).

  According to this configuration, the calculation for obtaining the n pieces of information pitch is facilitated, and the processing load of the calculation processing unit is reduced.

  On the other hand, a linear motor according to the present invention is a linear motor equipped with the above linear encoder device, and has a linear motor main body having a linear stator in which magnetic poles are arranged at a constant pitch, and faces the stator. And a movable part that is movable with respect to the linear motor main body, and a linear scale is provided in parallel to the stator on the linear motor main body. The detection head is provided so as to face each other (Claim 6).

  According to this linear motor, the control of the moving position of the movable portion and the control of the driving of the linear motor are appropriately performed using the rear encoder device described above.

  Furthermore, a single-axis robot according to the present invention includes the linear motor described above, and a work member support table to which the work member is detachably attached is provided on the movable portion.

  In this way, the linear motor equipped with the linear encoder of the present invention is effectively applied to a single-axis robot.

  According to the linear ender device of the present invention, the absolute position is detected by detecting any n pieces of continuous information of the reference index portion recorded on the linear scale. Even in the middle, the absolute position can be quickly detected by moving the detection head slightly. In particular, according to the application of the detection head capable of detecting the n pieces of information in a stationary state, the absolute position can be detected without moving the detection head. In addition, except for the large amount of information in the reference indicator, the basic configuration is the same as that of a conventional incremental linear encoder device, so that the absolute position can be detected quickly with a simple and inexpensive configuration. become.

  Therefore, according to the linear motor according to the present invention equipped with such a linear ender device and the single-axis robot according to the present invention equipped with this linear motor, the absolute position of the movable part can be detected promptly when the power is turned on. The rise time can be shortened accordingly.

  Embodiments of the present invention will be described with reference to the drawings.

  1 and 2 show a single-axis robot as an example of application of a linear motor provided with the linear encoder device of the present invention. In these drawings, a single-axis robot R is configured using a linear motor, and has a robot body (linear motor body) 1 having a stator and a mover facing the stator, And a movable portion 2 that can move linearly in a certain direction.

  The robot body 1 includes a base portion 3 and a pair of cover members 4 constituting both side wall portions, and is formed in a horizontally long frame shape extending in a uniaxial direction.

  In the robot body 1, a guide rail 5 having a constant width is provided on the base portion 3, and a stator portion (stator) 6 is disposed above the guide rail 5. The stator portion 6 has a large number of annular permanent magnets (not shown) arranged in the axial direction so that the N and S magnetic poles are alternately positioned in opposite directions, and is formed in a shaft shape. Is supported by the robot body 1.

  The movable portion 2 has a hollow movable block 8 through which the stator portion 6 is inserted, and a guided portion 9 that engages with the guide rail 5 is provided at the lower end of the movable block 8. A movable block 8 is slidably supported on the guide rail 5.

  A coil (movable element) 7 constituting an armature is fixed to the inner periphery of the hollow part of the movable block 8, and the coil 7 surrounds the stator part 6 in a state where the movable part 2 is assembled to the robot body 1. It is supposed to be.

  A work member support table 10 is provided on the upper portion of the movable portion 2, and various work members according to the application are attached to the table 10. The table 10 is attached to the movable block 8 by bolting or the like.

  Further, the single-axis robot R is provided with a linear encoder device. This linear encoder device includes a linear scale 11 that records position information that can be read magnetically or optically, a detection head 12 that reads the linear scale 11, and a detection head 12 that moves relative to the linear scale 11. In addition, an arithmetic processing unit (a controller 20 described later) that performs arithmetic processing by inputting a signal from the detection head 12 is provided.

  In the present embodiment, the linear scale 11 is composed of a magnetic scale in which position information is magnetically recorded, and the detection head 12 is composed of an MR sensor capable of reading magnetic recording information.

  The linear scale 11 is provided on the upper surface of the base portion 3 on one side of the guide rail 5 over substantially the entire length of the base portion 3, while the detection head 12 is provided on the lower end of one side portion of the movable block 8. It arrange | positions so that the said linear scale 11 may be opposed.

  FIG. 3 schematically shows a part of the linear motor mechanism of the single-axis robot R, the linear encoder device, and the control means.

  In this figure, the linear scale 11 includes an increment indicator 15 in which increment information (A phase and B phase in the output signal phase) indicating a position at a fixed minute pitch is recorded, and a plurality of reference points along the increment information. Information (Z phase in the output signal phase) 13a is provided with a reference indicator portion 13 in which information is recorded at a predetermined pitch. In FIG. 3, the increment information is not illustrated, but is recorded at a narrow pitch in the longitudinal direction of the linear scale 11.

  The reference point information 13a of the reference index unit 13 is recorded within a range where increment information is recorded. As shown in FIG. 3, the inter-information pitch of the reference point information 13 a includes information on one end (left end in FIG. 3) of three pieces of continuous information arbitrarily extracted from the reference indicator unit 13 and other information. The pitch combination (P1, P2) is the same combination for any other three consecutive pieces of information ((P1 ′, P2 ′) (P1 ″, P2 ″)... It is set to be different from any of the above. Further, the reference point information 13a is recorded so as to be aligned with the increment information in the longitudinal direction of the linear scale 11 at a pitch that is an integral multiple of the inter-information pitch of the increment information. That is, the increment information is always detected at the position where the detection point 12 detects the reference point information 13a.

  By forming the linear scale 11 in this way, as the detection head 12 moves on the linear scale 11, A-phase, B-phase, and Z-phase signals are output. The output signal of the detection head 12 is input to the controller 20, and the controller 20 controls the supply current to the coil 7 of the single-axis robot R, thereby controlling the drive of the linear motor and the movement of the movable unit 2. Is done.

  The controller 20 also has a function as an arithmetic processing unit that performs arithmetic processing by inputting a signal from the detection head 12 while moving the detection head 12 relative to the linear scale 11. The controller 20 functionally includes a storage unit 21 that stores data relating to the position (absolute position) and pitch of each reference point information 13, and the controller 20 receives the A given from the detection head 12. The absolute position of the movable unit 2 is detected based on the phase, B phase, and Z phase signals and the data in the storage unit 21.

  A specific example of the control of the controller 20 for detecting the absolute position of the movable unit 2 will be described with reference to the flowchart of FIG.

  When the processing of this flowchart is started, the controller 20 first starts detecting the A phase, the B phase (increment information), and the Z phase (reference point information 13a) in step S1. This processing is performed by moving the detection head 12 from the current position along the linear scale 11 while driving the linear motor body (moving the movable portion 2 toward one end of the movable range).

  Then, when there are three continuous Z-phase signal inputs accompanying the movement of the detection head 12 (step S2), the controller 20 determines the pitch between the Z-phase signal signals (that is, between the reference point information 13a in FIG. 3). The pitch P1, P2) is determined based on the count value of the A phase or B phase signal, and the absolute position of the movable part 2 is specified from the combination of the pitches (P1, P2) (steps S3, S4). That is, the combination of pitches (P1, P2) related to three consecutive Z-phase signals (reference point information 13a) is set as described above, and the reference indicator 13 Is the only value (combination). Therefore, the controller 20 specifies the reference point information 13 detected by collating this combination (P1, P2) with data relating to the pitch of each reference point information 13 stored in the storage unit 21. Further, the position of the reference point information 13 is specified based on the data in the storage unit 21, and the absolute position of the movable unit 2 is obtained from the position of the reference indicator unit 13.

  According to this embodiment as described above, the absolute position of the movable portion 2 is checked by performing the processing shown in the flowchart of FIG. 4 when the power is turned on such as when the single-axis robot R starts work. In this case, the absolute position of the movable part 2 can be detected simply by moving the movable part 2 so that the detection head 12 passes through the three consecutive reference point information 13. It becomes possible to carry out promptly (in a short time). That is, as long as the movable part 2 is moved and three consecutive reference point information 13a is detected, there is no need to move the detection head to a specific origin position as in the prior art. Can be detected promptly. In particular, if the reference point information 13a of the reference indicator unit 13 is recorded at a narrow pitch, the amount of movement of the detection head 12 required to pass through the three reference point information 13 becomes smaller, and accordingly, the movable part. 2 can be detected more quickly (in a short time). Accordingly, it is possible to start work by the single-axis robot R in a short time after the power is turned on, and it is possible to shorten the rise time of the single-axis robot R.

  In addition, the linear encoder device records information for obtaining the A, B, and Z phase signals except that a plurality of reference point information 13 for obtaining the Z phase signal is provided. The configuration is the same as that of a so-called increment type linear encoder device including a linear scale 11 and a detection head 12 for reading the information. Accordingly, there is an advantage that the rise time of the single-axis robot R can be further shortened with a simple and inexpensive configuration like the incremental type linear encoder device.

  In addition, the specific structure of this invention is not limited to the said embodiment, As described below, various changes are possible.

  For example, in the above embodiment, the absolute position of the movable part 2 is obtained by moving the detection head 12 and detecting the reference point information 13a (Z-phase signal). The detection head 12 having a detection width that can always detect 13a may be applied, and the three reference point information 13a continuous in a stationary state of the detection head 12 may be detected simultaneously. In this case, the controller 20 may determine the pitches P1 and P2 directly from the detection result, that is, without using the increment information. According to such a configuration, it is possible to detect the absolute position without driving the movable part 2, and thus it is possible to further shorten the rise time of the single-axis robot R.

  Further, in the linear scale 11 of the embodiment, the pitch of the reference point information 13a is specified information (the left end in FIG. 3) and other information among three pieces of continuous information arbitrarily extracted from the reference indicator unit 13. The combination of pitches (P1, P2) is set so as to be different from any of the other consecutive combinations of three pieces of information, but the number of pieces of continuous information relating to the pitch setting of the reference point information 13a is There may be four, five or more.

  In the above embodiment, the magnetic encoder 11 and the detection head 12 constitute a linear encoder. However, the encoder may be optical, and for example, the linear scale is formed by a tape having a large number of slits. The detection head may be formed by a sensor that optically detects the slit.

  In the linear motor used in the single-axis robot R of the above embodiment, the stator is constituted by a permanent magnet and the mover is constituted by a coil. Conversely, the stator is constituted by a coil and the mover is constituted by a permanent magnet. A linear motor may be used.

  In addition to the single-axis robot R, the linear encoder of the present invention can be installed in a linear motor used for various applications. Furthermore, the present invention is not limited to a linear motor, and can be applied to a driving device that moves a movable part linearly via a ball screw or the like using a rotary motor. A linear scale is provided, a detection head is provided on the movable portion, a position on the linear scale corresponding to the reference magnetic pole position of the motor is checked in advance, and information indicating the position may be recorded on the linear scale.

It is a longitudinal section view showing an example of a single axis robot to which the present invention is applied. It is sectional drawing along the II-II line of FIG. It is a figure which shows typically a part of linear motor mechanism part, a linear encoder, and a controller. It is a flowchart which shows the process which investigates the absolute position of a movable part.

Explanation of symbols

R Single-axis robot 1 Robot body 2 Movable part 6 Stator part 7 Coil 11 Linear scale 12 Detection head 13 Reference point information 15 Increment information 20 Controller 21 Storage part

Claims (7)

A linear scale that is linearly arranged on the fixed part and has magnetic or optically readable position information, and a movable part that moves along the linear scale, reads the position information of the linear scale. A linear encoder device including a detection head and an arithmetic processing unit that inputs a signal from the detection head and performs arithmetic processing,
The linear scale includes, as the position information, an increment indicator section in which a plurality of pieces of information indicating increment positions are recorded at a constant pitch, and a reference indicator in which a plurality of pieces of information indicating reference positions different from the increment positions are recorded at a predetermined pitch And
The reference index unit is three or more pieces of continuous information arbitrarily extracted from the information indicating the reference position, and specific information among n pieces of preset information and each other information The pitch between the pieces of information is set so that the combination of the pitches is different from any of the same combinations of the consecutive n pieces of information that are arbitrarily extracted apart from the n pieces.
The arithmetic processing unit causes the detection head to detect the n pieces of information of the reference indicator unit, obtains a combination of the pitches related to the information, and based on the combination of the pitches of the movable unit on the linear scale A linear encoder device configured to obtain an absolute position. The linear encoder device according to claim 1,
The arithmetic processing unit causes the detection head to detect the n pieces of information of the reference indicator unit and the corresponding information of the increment indicator unit while moving the detection head relative to the linear scale. A linear encoder apparatus that calculates a combination of the pitches for the n pieces of information based on a detection result of each piece of information. The linear encoder device according to claim 2,
When the first to n-th information are sequentially arranged from the endmost information among the n pieces of information, the combination of the pitches is a combination of the pitches of the first information and other information. Linear encoder device. The linear encoder device according to claim 1,
The detection head is configured to be capable of simultaneously detecting the n or more pieces of information of the reference indicator unit,
The arithmetic processing unit is configured to simultaneously detect the n pieces of information of the reference index unit while the detection head is stationary, and obtain a combination of the pitches regarding the n pieces of information based on the detection result. A linear encoder device characterized by that. The linear encoder device according to claim 1, wherein:
The information of the reference index part is recorded at the same position as any of the information of the increment index part in the longitudinal direction of the linear scale and at a pitch that is an integral multiple of the pitch between the information of the increment index part. A linear encoder device. A linear motor equipped with the linear encoder device according to any one of claims 1 to 5,
A linear motor main body having a linear stator in which magnetic poles are arranged at a constant pitch; and a movable portion having a movable element facing the stator and movable with respect to the linear motor main body,
A linear motor is characterized in that a linear scale is provided in the linear motor body in parallel with a stator, and a detection head is provided on the movable element so as to face the linear scale. A single-axis robot comprising the linear motor according to claim 6, wherein a work member support table to which a work member is detachably attached is provided on the movable portion.

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