JPS6394112A - Multirotation detection type resolver device - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention relates to a multi-rotation detection type resolver device, and particularly to a novel improvement for obtaining a rotation speed signal by a variable transformer.

b. Prior Art Various configurations have been adopted and proposed for this type of multi-rotation detection type resolver device that has been used in the past, and a typical configuration is shown in Fig. 7. As shown in FIG.

Note that the names of documents disclosing these conventional techniques are omitted here.

First, the configurations shown in FIGS. 7 to 10 are based on the conventionally used amplitude modulation method (AM method) and phase modulation method (P
In the case of the configurations shown in FIGS. 7 and 8, the rotation angle was detected by changing the amplitude with respect to the rotor rotation angle θ.

Further, in the case of the configurations shown in FIGS. 9 and 10, the rotation angle is detected by changing the phase with respect to the rotor rotation angle θ.

Furthermore, in the case of the configuration shown in FIGS. 11 and 12, two resolver devices 1 and 1a are used, and each resolver device 1 and 1a is rotated in conjunction with each other by a gear mechanism 2.

Therefore, in the case of FIG. 11, one resolver device 1 outputs the rotation angle signal A by rotating once for every input rotation, and the other resolver device 1a outputs the rotation angle signal A by rotating once for every n input rotations. Outputs signal B.

In the case of FIG. 12, one resolver device 1 has a gear mechanism 2.
Since the gear ratio with the gear mechanism 2 is 1:1, the rotation angle signal A is obtained, and the other resolver device 1a obtains the rotation speed signal B because the gear ratio with the gear mechanism 2 is 1:1-1, which is n+. is obtained.

Next, in the case of the configuration shown in FIG. 16, the pulse generator 3 is directly connected to the rear end of the resolver device 1, and the rotation angle signal A is obtained by the rotation of the resolver device 1, and the number of pulses from the pulse generator 3 is obtained. The rotational speed signal B was obtained by storing this in the memory.

C1 Problems to be Solved by the Invention Since the conventional resolver device is configured as described above, it has the following various problems.

(1) In the case of the configuration shown in Figures 11 and 12, a pair of resolver devices with the same configuration is required, which increases the cost and makes the overall shape the same, which meets the demand for miniaturization. I couldn't.

(2) Furthermore, in the case of the configurations shown in FIGS. 11 and 12, a gear mechanism with a large reduction ratio is required, which is a major factor in increasing cost and size.

(3) In addition, in the case of the configuration shown in Figure 13, it is necessary to keep the power on at all times in order to memorize the number of pulses, and if the power is cut off, the memory is reset, so the absolute value Gender is lost.

Therefore, a backup system using an auxiliary battery is considered, but if the battery runs out, the system will be in the same state as when the power is cut off, and its reliability is not sufficient.

The present invention has been made to solve the above-mentioned problems, and in particular, it is an object of the present invention to provide a multi-rotation detection type resolver device in which a rotation speed signal is obtained by a variable transformer.

f6 Embodiment Hereinafter, a preferred embodiment of the multi-rotation detection wall resolver device according to the present invention will be described in detail with reference to the drawings.

Note that the same parts as in the conventional example will be described with the same reference numerals.

1 to 6 are for showing the multi-rotation detection type resolver device according to the present invention, and FIG. 1 is a configuration diagram of the main parts;
Fig. 2 is a characteristic diagram of the output signal, Fig. 6 is a specific configuration diagram of the main part, Fig. 4 is a schematic sectional view showing the overall configuration, and Figs. 5 and 6 are configurations showing other embodiments. It is a diagram.

First, in FIGS. 1 to 4, the reference numeral 1 indicates a resolver device, and a rotating shaft 6 is connected to the axial center of the case body 4 of the resolver device 1 via a pair of bearings 5. It is rotatably provided.

A rotor 7 having a coil 7a is integrally provided at approximately the center of the rotating shaft 6, and a stator 8 having a coil 8a is fixed inside the case body 4 in correspondence with the rotor 7. It is arranged.

A variable rotation transformer 9 as a variable transformer is disposed at a position adjacent to the rotor 7 and stator 8. The variable rotation transformer 9 is provided on the rotating shaft 6 and has a coil 10.
The rotary transformer rotor 10 includes a rotary variable transformer rotor 10 having a diameter of 1.a, and a variable transformer stator 11 (constituting magnetic means) provided inside the case body 4 and having a coil 11a.

The variable transformer stator 11 is disposed so as to be able to reciprocate in the axial direction, as shown by arrow A, and the rotary variable transformer, which is the magnetic means described above, is located adjacent to the rotary variable transformer 9. moving means 12 consisting of a cam for moving the stator 11 in the direction of arrow A;
, and a deceleration mechanism 2 for moving this moving means 12.

This speed reduction mechanism 2 has, for example, a harmonic carrier configuration, and includes a base 2a provided on a rotating shaft 6, a rotating ring 2C1 provided on the outside of this base 2a via a ball 2b, and a rotating ring 2C1 provided on this rotating ring 2C. n Fixed internal teeth 2d
and n-)-1 teeth 2e, which are low-speed rotating internal teeth, and the n+1 teeth 2e are connected to the moving means 12.

Furthermore, the configurations shown in FIGS. 5 and 6 show other embodiments of the present invention, and in the configuration shown in FIG. A rotary variable transformer stator (not shown in FIG. 5) of the rotary variable transformer 9 is connected to a moving means 12 connected to the speed reduction mechanism 2.

Further, in the configuration shown in FIG. 6, a differential transformer 9a is provided as a variable transformer, and the above-mentioned moving means 12 is joined to a movable core 9b, which is a magnetic means provided in this differential transformer 9a. Movable core? b corresponds to the detection coil 9c, and is configured so that its position is variable.

The multi-rotation aspect ratio resolver device according to the present invention is configured as described above, and its operation will be described below.

First, in the configuration shown in FIGS. 1 to 4, the rotating shaft 6
When the rotor 7 and the stator 8 are rotated, the output signal obtained between the rotor 7 and the stator 8 is phase modulated, and as shown in FIG. 2, a rotation angle signal A of the rotor 7 can be obtained. Moreover, in the variable rotation transformer 9 which is a variable transformer,
A moving means 12 consisting of a cam is decelerated and rotated via a deceleration mechanism 2 according to the rotation speed of the rotary shaft 6, and a stator 11 for a variable rotation transformer, which is a magnetic means, is rotated at a deceleration rate according to the deceleration rotation state.
However, since it moves to the position shown in FIGS. 1 and 2, a deviation occurs in the corresponding position with respect to the rotor 7.

Therefore, the output from the variable rotation transformer 9 in the above state is the rotation speed signal B based on the amplitude modulation method in which the amplitude is changed as shown in FIG.
The rotation angle signal A and the rotation speed signal B can be obtained at the same time.

Furthermore, in the case of FIG. 5, the rotatable truss 9 is simply provided outside and independently, and its operation is similar to that described above.

In the case of FIG. 6, a differential transformer 9a is used instead of the variable rotation transformer 9, and the movable core 9b is moved through the speed reduction mechanism 2 and the moving means 12 according to the rotation speed of the rotating shaft 6. The amount of inflow and outflow changes, and the same rotational speed signal B as described above can be obtained.

Regarding the aforementioned speed reduction mechanism 2 and moving means 12, -
This is an example, and it goes without saying that similar effects can be obtained by using a speed reduction mechanism and a moving means with other configurations.

g1 Effects of the Invention Since the multi-rotation detection type resolver device according to the invention is configured as described above, it can produce various effects as described below.

(1) Since the rotation angle and rotation speed signals can be obtained with only one resolver device, the overall shape can be reduced and a significant cost reduction can be achieved.

(2) Since the speed reduction mechanism can be housed within the case body, the overall shape can be made extremely small, making it possible to attach it to small automatic machines, robots, etc.

(3) Since the rotation speed signal of the rotating shaft of the resolver device is obtained by the variable rotation transformer or the differential transformer, even if the power is cut off, the contents will not be reset like in the past, and the power will be turned on again. After that, the total rotational speed signal can be immediately obtained continuously from the previous state. Therefore,
There is no need for a battery backup system or the like as in the past, and the rotational speed signal can be obtained without using a special power source.

[Brief explanation of the drawing]

1 to 6 are for showing a multi-rotation detection type resolver device according to the present invention, and FIG. 1 is a cross-sectional view of the main parts;
Fig. 2 is a signal characteristic diagram, Fig. 6 is a sectional view of main parts, Fig. 4 is a sectional view showing the overall configuration, Figs. 5 and 6 are schematic configuration diagrams showing other embodiments, and Fig. 13 are for showing the conventional configuration, FIG. 7 is an equivalent circuit diagram showing the first conventional example, FIG. 8 is a characteristic diagram, FIG. 9 is an equivalent circuit diagram showing the second conventional example, and FIG. FIG. 10 is a characteristic diagram, and FIGS. 11 to 16 are schematic configuration diagrams showing other embodiments of the conventional configuration. 1 is a resolver device, 2 is a reduction mechanism (harmonic gear mechanism), 4 is a case body, 6 is a rotating shaft, 7 is a rotor, 8 is a stator, 9 is a variable transformer (rotation variable transformer), 9
a is a differential transformer, 9b is a movable core, 9c is a detection coil, 1o is a rotor for a variable rotation transformer, and 11 is a magnetic means (
12 is a moving means (cam). (12)...- is Tsai Qin this stage 7th figure 8

Claims (7)

[Claims] (1) Stator (8) provided inside the case body (4)
and a rotor (7) corresponding to the stator (8), a rotating shaft (6) rotatably provided within the case body (4), and a variable transformer interlocking with the rotating shaft (6). (9), a magnetic means (11) provided in the variable transformer (9) and movable in the axial direction, and the rotating shaft (
a speed reduction mechanism (2) interlocked with the rotation of the variable transformer (9); and a moving means (12) interlocked with the speed reduction mechanism (2) for moving the magnetic means (11) of the variable transformer (9) in the axial direction.
), wherein a phase modulation signal is obtained by the rotor (7) and the stator (8), and an amplitude modulation signal is obtained by the variable transformer (9). . (2) The variable transformer (9), the speed reduction mechanism (2), and the moving means (12) are provided within the case body (4). Rotation detection type resolver device. (3) The variable transformer (9) and the speed reduction mechanism (2) are
The magnetic means (11) of the variable transformer (9), which is provided outside the case body (4), is interlocked with the rotating shaft (6) inside the case body (4) via the speed reduction mechanism (2). A multi-rotation detection type resolver device according to claim 1, characterized in that: (4) The speed reduction mechanism (2) is comprised of a harmonic gear mechanism, as claimed in claim 1 or 2.
The multi-rotation detection type resolver device described in . (5) The variable transformer (9) includes a rotary variable transformer stator (11) and a rotary variable transformer rotor (10).
), and the rotary variable transformer stator (11) is moved in the axial direction by the moving means (12) according to the rotation speed of the rotating shaft (6). A multi-rotation detection type resolver device according to any one of claims 1 to 4. (6) The variable transformer (9) consists of a differential transformer consisting of a movable core (9b) and a detection coil (9c),
Claims 1 to 4, characterized in that the movable core (9b) is moved in the axial direction by the moving means (12) according to the rotation speed of the rotating shaft (6).
The multi-rotation detection type resolver device according to any one of paragraphs. (7) The multi-rotation detection type resolver device according to any one of claims 1 to 6, wherein the moving means (12) comprises a cam.