Device using incremental encoder to carry out absolute position detection and method thereof

Abstract

The invention discloses a device using an incremental encoder to carry out absolute position detection. The device comprises a motor. Both ends of the motor are electrically connected with a speed reducer and a power-off maintaining brake. The speed reducer is connected with an actuator. The power-off maintaining brake is connected with an incremental code disk. The incremental code disk is connected with a controller through a switching circuit. The controller is connected with an energy storage element. The energy storage element is connected with a system control power supply. The other end of the power-off maintaining brake is connected with a power supply through a drive circuit. A memory is arranged in the controller. The device provided by the invention has the advantages that the price is low, so that the material cost of an individual joint is reduced; the complexity of joint mechanical design is reduced; loss is prevented after a system is cut off; mechanical structure reset is not required by each time of power on; restart is carried out from the current position; and the initialization time of the system is shortened.

Description

technical field [0001] The invention relates to the field of precise position control of DC motor rotation, in particular to a device and method for absolute position detection using an incremental encoder. Background technique [0002] Photoelectric encoder discs can be divided into absolute position encoders and relative position encoders according to different output methods. Among them, the absolute position encoder outputs the encoded data uniquely corresponding to the motor rotation position, but its internal structure is complex: the absolute position encoder with parallel output needs a large number of data lines and takes up a large volume; the absolute position encoder with serial output The encoder must have a corresponding communication protocol to standardize the form of output data, and the internal circuit of the code wheel is complex. The above factors cause the cost of absolute position encoders to be higher than that of relative position encoders. The rel...

AI Technical Summary

Problems solved by technology

However, the incremental encoder cannot memorize the absolute position, and needs to use an external zero switch or limit switch for zero calibration. Every time the mechanical system is initialized, it needs to be reset to zero.

[0003] In the key rotating parts of robot products that require high-precision control, such as the rotating joints of small manipulators, due to structural limitations, it is impossible to assemble zero position switches or limit switches. If an incremental encoder is used, it is impossible to determine the joint zero position. If an absolute position encoder is used, the cost is high and the output is complicated

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