Multi-turn absolute encoder

Abstract

This invention relates to a multi-turn absolute encoder, comprising: a main body, a main shaft, a main gear, multiple planetary gears, a multi-track absolute encoder disk, and a circuit board; the main shaft is rotatably mounted on the main body, and the main gear, each planetary gear, the multi-track absolute encoder disk, and the circuit board are all disposed inside the main body; the main gear and the multi-track absolute encoder disk are mounted on the main shaft, the main gear meshes with the planetary gears, and each planetary gear is provided with a unipolar radial magnet; the rotation of the main shaft drives the main gear to rotate, and the rotation of the main gear drives the planetary gears to rotate; the circuit board acquires the unipolar radial magnet data of each unipolar radial magnet relative to the multi-track absolute encoder disk, and sends the unipolar radial magnet data to a host computer; through the multi-track absolute encoder disk and multiple planetary gears, the resolution and accuracy of the encoder can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of encoders, and in particular to a multi-turn absolute value encoder. Background Art

[0002] Absolute encoders are usually made based on two principles, one is the optical principle and the other is the magnetoelectric principle. The optical principle usually uses a grating system, which is subject to many restrictions in practical applications due to the large size of the grating system. Therefore, the absolute encoder based on the magnetoelectric principle is becoming more and more widely used.

[0003] However, most simple magnetic encoders have relatively low resolution and accuracy. Summary of the invention

[0004] In view of this, an object of the present invention is to overcome the deficiencies of the prior art and provide a multi-turn absolute encoder to improve the resolution and accuracy of the absolute encoder.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] A multi-turn absolute value encoder comprises: a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code channel absolute value encoder disk and a circuit board;

[0007] The main shaft is rotatably arranged on the main body, and the main gear, each of the planetary gears, the multi-channel absolute value encoder disk and the circuit board are all arranged inside the main body;

[0008] The main gear and the multi-code channel absolute value encoder disk are arranged on the main shaft, the main gear is meshed and connected with the planetary gears, and each of the planetary gears is provided with a unipolar radial magnetized magnet;

[0009] The rotation of the main shaft drives the main gear to rotate, and the rotation of the main gear drives the planetary gear to rotate. The circuit board obtains the unipolar radial magnetized magnet data of each unipolar radial magnetized magnet relative to the multi-code channel absolute value encoder disk, and sends the unipolar radial magnetized magnet data to the host computer.

[0010] Optionally, the planetary gears mentioned above include a first planetary gear, a second planetary gear, a third planetary gear and a fourth planetary gear;

[0011] The first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are meshed around the main gear;

[0012] The first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are all fixed to the main body through gear shafts, and are all provided with the unipolar radial magnetized magnet.

[0013] Optionally, the multi-code channel absolute value encoder disk comprises: a central code channel and an outer code channel;

[0014] The central code track is a monopolar radially magnetized magnetic ring, and the outer ring code track is a plurality of monopolar radially magnetized magnets.

[0015] Optionally, the circuit board mentioned above includes: a reading chip, a central processing circuit and an interface chip;

[0016] The reading chip and the interface chip are both connected to the central processing circuit;

[0017] The reading chip is used to read the data of the unipolar radial magnetized magnets on the main gear and the planetary gear;

[0018] The central processing circuit is used to decode the monopolar radial magnetized magnet data into absolute position information;

[0019] The interface chip is used to send the absolute position information to a host computer.

[0020] Optionally, the multi-turn absolute encoder described above further includes a Hall sensor;

[0021] The Hall sensor is connected to the circuit board, and the reading chip obtains the data of the unipolar radial magnetization magnet through the Hall sensor.

[0022] Optionally, the multi-turn absolute encoder described above further includes an upper cover;

[0023] The upper cover is used to cover the main body so that the main gear, each of the planetary gears, the multi-channel absolute value encoder disk and the circuit board inside the main body are isolated from the outside.

[0024] Optionally, the multi-turn absolute encoder described above further includes a bearing;

[0025] The bearing is arranged between the main shaft and the main body. When the main shaft rotates, the bearing is driven to rotate so that the main body remains stationary relative to the circuit board.

[0026] Optionally, the multi-turn absolute encoder described above further includes an AI module;

[0027] The AI ​​module is connected to the circuit board, and is used to obtain the current working information of the multi-turn absolute encoder and send the current working information to the host computer.

[0028] Optionally, the interface chip mentioned above includes a wireless interface component;

[0029] The wireless interface component is connected to the central processing circuit, and the multi-turn absolute encoder realizes wireless data transmission through the wireless interface component.

[0030] Optionally, the number of teeth of the main gear is 59, the number of teeth of the first planetary gear is 37, the number of teeth of the second planetary gear is 39, the number of teeth of the third planetary gear is 41, and the number of teeth of the fourth planetary gear is 43.

[0031] The beneficial effects of this application are:

[0032] The present invention provides a multi-turn absolute value encoder, comprising: a main body, a main shaft, a main gear, a plurality of planetary gears, a multi-code channel absolute value encoding disk and a circuit board; the main shaft is rotatably arranged on the main body, the main gear, each planetary gear, the multi-code channel absolute value encoding disk and the circuit board are all arranged inside the main body; the main gear and the multi-code channel absolute value encoding disk are arranged on the main shaft, the main gear is meshed and connected with the planetary gear, and each planetary gear is provided with a unipolar radial magnetized magnet; the rotation of the main shaft drives the main gear to rotate, the rotation of the main gear drives the planetary gear to rotate, the circuit board obtains the unipolar radial magnetized magnet data of each unipolar radial magnetized magnet relative to the multi-code channel absolute value encoding disk, and sends the unipolar radial magnetized magnet data to the host computer. By adopting the technical solution of the present application, through the cooperation of the main gear and the plurality of planetary gears, and the joint action of the multi-code channel absolute value encoding disk, the single-turn resolution can reach 24 bits, and the multi-turn resolution can reach 21 bits (realizing 2544009 absolute position counts), and due to the small size, it can be applied to a variety of different environments, effectively improving the resolution and accuracy of the simple structure magnetoelectric encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 1 is a schematic diagram of an overall cross-sectional structure of a multi-turn absolute encoder provided by an embodiment of the present invention;

[0035] Figure 2 yes Figure 1 Schematic diagram of the structure of the main axis in;

[0036] Figure 3a yes Figure 1A front view of the subject in FIG.

[0037] Figure 3b yes Figure 1 A top view of the subject in FIG.

[0038] Figure 4 yes Figure 1 Schematic diagram of the structure of the main gear and planetary gear;

[0039] Figure 5 yes Figure 1 Schematic diagram of the structure of the multi-channel absolute value encoder disk.

[0040] In the figure: 1. main body; 2. main shaft; 3. main gear; 4. planetary gear; 41. first planetary gear; 42. second planetary gear; 43. third planetary gear; 44. fourth planetary gear; 5. multi-channel absolute value encoder disk; 6. circuit board; 7. unipolar radial magnetized magnet; 8. Hall sensor; 9. upper cover; 10. bearing; 11. gear shaft. DETAILED DESCRIPTION

[0041] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0042] Figure 1 is a schematic diagram of an overall cross-sectional structure of a multi-turn absolute encoder provided by an embodiment of the present invention, Figure 2 yes Figure 1 Schematic diagram of the main axis structure, Figure 3a yes Figure 1 A front view of the subject in Figure 3b yes Figure 1 A top view of the subject in Figure 4 yes Figure 1 Schematic diagram of the main gear and planetary gear structure, Figure 5 yes Figure 1 Schematic diagram of the structure of the multi-channel absolute value encoder disk.

[0043] like Figure 1-Figure 5 As shown, Figure 1 is a cross-sectional diagram of the overall structure. Figure 5It is a structural schematic diagram and effect diagram of a multi-channel absolute value encoding disk 5. Through different cutting angles in the figure, a complete understanding of the encoder of the present application can be achieved. A multi-turn absolute value encoder of the present embodiment includes: a main body 1, a main shaft 2, a main gear 3, a plurality of planetary gears 4, a multi-channel absolute value encoding disk 5 and a circuit board 6, wherein the main shaft 2 is rotatably arranged on the main body 1, and the main gear 3, each planetary gear 4, the multi-channel absolute value encoding disk 5 and the circuit board 6 are all arranged inside the main body 1; the main gear 3 and the multi-channel absolute value encoding disk 5 are arranged on the main shaft 2, the main gear 3 is meshed and connected with the planetary gear 4, and each planetary gear 4 is provided with a unipolar radial magnetized magnet 7; the rotation of the main shaft 2 drives the main gear 3 to rotate, and the rotation of the main gear 3 drives the planetary gear 4 to rotate, and the circuit board 6 obtains the unipolar radial magnetized magnet 7 data of each unipolar radial magnetized magnet 7 relative to the multi-channel absolute value encoding disk 5, and sends the unipolar radial magnetized magnet 7 data to the host computer.

[0044] In a specific implementation process, the planetary gear 4 can be four, namely the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44, the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 are meshed around the main gear 3, the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 are all fixed to the main body 1 through the gear shaft 11, and are all provided with a unipolar radial magnetized magnet 7, the number of gears of each planetary gear 4 is mutually prime, in this embodiment, the number of teeth of the main gear 3 can be 59, the number of teeth of the first planetary gear 41 can be 37, the number of teeth of the second planetary gear 42 can be 39, the number of teeth of the third planetary gear 43 can be 41, and the number of teeth of the fourth planetary gear 44 can be 43. Of course, it should be pointed out that the specific number of gears does not have a strict limiting effect, but is only for the purpose of clearly illustrating one of the implementation methods. 152640539 absolute positions can be determined by the main gear 3 and the four planetary gears 4, which greatly improves the resolution of the encoder. The multi-code channel absolute value encoder disk 5 may include: a central code channel and an outer ring code channel; the central code channel is a unipolar radial magnetized magnetic ring, and the outer ring code channel is a plurality of unipolar radial magnetized magnets 7. Coding principle: from the central code channel and the outer ring code channel, the central code channel outputs 1 group of 01 data, and the outer ring code channel outputs 128 groups of 01 data. The principle of decoding is to subdivide the data of the central code channel and the outer ring code channel to generate 2 groups of data, calibrate and splice the 2 groups of arrays, and output 21 bits of absolute value data. The size of the multi-code channel absolute value encoder disk 5 is Φ12mm*Φ3mm*0.2mm, the central code channel is a radial magnetized magnetic ring with a size of Φ2mm*Φ1mm*1mm, and the edge of the outer ring code channel is 128 radial magnetized magnets with a size of Φ12mmΦ8mm*2.8125°*1mm. It should also be pointed out that the specific dimensions, sizes, number of code tracks and number of magnets are only for illustration and may be other numbers. For example, the number of magnets in the outer circle code tracks may be 32 / 60 / 1000, etc.

[0045] The multi-code channel absolute value encoder disk 5 and the main gear 3 are installed on the main shaft 2, and the four unipolar radial magnetized magnets 7 are installed on the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 respectively. The planetary gear 4 moves synchronously with the main shaft 2, and the main shaft 2 drives the planetary gear 4 to work through the main gear 3. The circuit board 6 reads the data of the five multi-code channel absolute value encoder disks 5 and processes the data. The specific processing circuit board 6 may include: a reading chip, a central processing circuit and an interface chip; the reading chip and the interface chip are both connected to the central processing circuit; the reading chip is used to read the data of the unipolar radial magnetized magnet 7 on the main gear 3 and the planetary gear 4; the central processing circuit is used to decode the data of the unipolar radial magnetized magnet 7 into absolute position information; the interface chip is used to send the absolute position information to the upper computer, and the interface chip can be a wireless interface component; the wireless interface component is connected to the central processing circuit, and the multi-turn absolute value encoder realizes wireless data transmission through the wireless interface component. Through the joint processing of the reading chip and the central processing circuit, the encoder's current angle information, angular acceleration, ambient temperature, power supply voltage, working status and other information can be transmitted to the host computer system for subsequent processing by the host computer.

[0046] The core of the whole work involves a specific counting process. In this embodiment, a main gear 3 and four planetary gears 4 are used as examples to illustrate the multi-turn counting system, and the number of teeth of the main gear 3 is 59, and the number of teeth of the planetary gears 4 are 37, 39, 41 and 43 respectively. The rotation of the main shaft 2 drives the main gear 3 to rotate, and the rotation of the main gear 3 drives the first planetary gear 41, the second planetary gear 42, the third planetary gear 43 and the fourth planetary gear 44 to work synchronously at the same time to form a multi-planet system. The reading chip reads the data of the unipolar radial magnetized magnet 7 on the gear, and determines the absolute position information of each tooth by subdividing and calibrating the data. The reading chip corresponding to the main gear 3 outputs 0-58 absolute position information, the reading chip corresponding to the first planetary gear 41 outputs 0-36 absolute position information, the reading chip corresponding to the second planetary gear 42 outputs 0-38 absolute position information, the reading chip corresponding to the third planetary gear 43 outputs 0-40 absolute position information, and the reading chip corresponding to the fourth planetary gear 44 outputs 0-42 absolute position information. The array group composed of five gears can form 152640539 absolute positions. After table lookup and decoding, 150096530 data are converted into an increasing or decreasing sequence. In the sequence, starting from the starting point, each 59 equally spaced data corresponds to one rotation of the encoder spindle 2, that is, a single-turn position. The magnet data at this position is subdivided to achieve 2544009 absolute position counts, and then the 21-bit absolute value data of the multi-channel absolute value encoder disk is extracted for correction and connection (the 21-bit data of the central code channel and the outer code channel are subdivided to generate 2 groups of data, and the 2 groups of arrays are corrected and spliced ​​to output), and 5335173562368 absolute position information is output, and the total number of bits is greater than 42. The specific gear specifications are shown in Table 1, and the multi-turn counting decoding table is shown in Table 2.

[0047] Table 1 Gear parameter comparison table

[0048]

[0049] Table 2 Multi-turn counting decoding table

[0050]

[0051]

[0052] Furthermore, if Figure 1As shown, the multi-turn absolute encoder of this embodiment also includes an upper cover 9; the upper cover 9 is used to cover the main body 1 so that the main gear 3, each planetary gear 4, the multi-channel absolute encoder disk 5 and the circuit board 6 inside the main body 1 are isolated from the outside. The upper cover 9 can effectively protect the multi-encoder disk and the gear combination, which helps to extend the service life of the encoder. At the same time, in order to make the encoder work better, a bearing 10 is arranged between the main shaft 2 and the main body 1. When the main shaft 2 rotates, the bearing 10 is driven to rotate so that the main body 1 remains stationary relative to the circuit board 6. The bearing 10 is arranged to make the rotation of the main shaft 2 smoother.

[0053] Furthermore, the multi-turn absolute encoder in this embodiment also includes an AI module; the AI ​​module is connected to the circuit board 6, and the AI ​​module is used to obtain the current working information of the multi-turn absolute encoder and send the current working information to the host computer. The addition of artificial intelligence factors can better integrate the relevant factors of 5G communication and facilitate subsequent series of operations.

[0054] It should be particularly emphasized that the two code channels of the multi-channel absolute value encoder 5 can also be replaced by a multi-channel absolute value encoder 5 composed of an optical reflective code disk and a magnet, or by a fully optical reflective code disk. There is no limitation in this application. At the same time, the size, material, number of lines, etc. of the code disk can also be set according to actual needs. For example, the thickness of 1mm can be adjusted to 0.5mm, the material is aluminum nickel cobalt, glass, and the number of lines is 32, 60, 1000, etc. The code disk in this application is an axial code disk, and the encoding code channel is on the upward surface, which can also be changed to the side. The description of the four planetary gears 4 in this application can also be composed of one or more gears, such as 17, 19, 21, 23 and 25. The gear specifications can be changed, such as module, material, number of teeth, type, etc. The gear counting method can also be changed from magnet + reading chip to code disk + reading chip, and the gear data can also be directly measured by the gear sensor. Similarly, the multi-turn counting system may have different algorithms, such as decoding the first set of data 0, 0, 0, 0, 0 to 150096530 or other values. The description in this embodiment is only given by way of example and does not constitute any limitation.

[0055] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0056] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0057] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0058] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0059] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0060] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0061] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-turn absolute encoder, characterized in that: include: Main body, main shaft, main gear, multiple planetary gears, multi-channel absolute encoder disc and circuit board; The main shaft is rotatably arranged on the main body, and the main gear, each of the planetary gears, the multi-channel absolute value encoder disk and the circuit board are all arranged inside the main body; The main gear and the multi-code channel absolute value encoder disk are arranged on the main shaft, the main gear is meshed and connected with the planetary gears, and each of the planetary gears is provided with a unipolar radial magnetized magnet; The rotation of the main shaft drives the main gear to rotate, and the rotation of the main gear drives the planetary gear to rotate. The circuit board obtains the unipolar radial magnetized magnet data of each unipolar radial magnetized magnet relative to the multi-code channel absolute value encoder disk, and sends the unipolar radial magnetized magnet data to the host computer.

2. The multi-turn absolute encoder according to claim 1, characterized in that: The planetary gears include a first planetary gear, a second planetary gear, a third planetary gear and a fourth planetary gear; The first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are meshed around the main gear; The first planetary gear, the second planetary gear, the third planetary gear and the fourth planetary gear are all fixed to the main body through gear shafts, and are all provided with the unipolar radial magnetized magnet.

3. The multi-turn absolute encoder according to claim 1, characterized in that: The multi-code channel absolute value encoder disk comprises: a central code channel and an outer circle code channel; The central code track is a monopolar radially magnetized magnetic ring, and the outer ring code track is a plurality of monopolar radially magnetized magnets.

4. The multi-turn absolute encoder according to claim 1, characterized in that: The circuit board includes: a reading chip, a central processing circuit and an interface chip; The reading chip and the interface chip are both connected to the central processing circuit; The reading chip is used to read the data of the unipolar radial magnetized magnets on the main gear and the planetary gear; The central processing circuit is used to decode the monopolar radial magnetized magnet data into absolute position information; The interface chip is used to send the absolute position information to a host computer.

5. The multi-turn absolute encoder according to claim 4, characterized in that: Also includes: Hall sensor; The Hall sensor is connected to the circuit board, and the reading chip obtains the data of the unipolar radial magnetization magnet through the Hall sensor.

6. The multi-turn absolute encoder according to claim 1, characterized in that: Also includes: Upper cover; The upper cover is used to cover the main body so that the main gear, each of the planetary gears, the multi-channel absolute value encoder disk and the circuit board inside the main body are isolated from the outside.

7. The multi-turn absolute encoder according to claim 1, characterized in that: Also includes: Bearings; The bearing is arranged between the main shaft and the main body. When the main shaft rotates, the bearing is driven to rotate so that the main body remains stationary relative to the circuit board.

8. The multi-turn absolute encoder according to claim 1, characterized in that: Also includes: AI module; The AI ​​module is connected to the circuit board, and is used to obtain the current working information of the multi-turn absolute encoder and send the current working information to the host computer.

9. The multi-turn absolute encoder according to claim 4, characterized in that: The interface chip includes a wireless interface component; The wireless interface component is connected to the central processing circuit, and the multi-turn absolute encoder realizes wireless data transmission through the wireless interface component.

10. The multi-turn absolute encoder according to claim 2, characterized in that: The number of teeth of the main gear is 59, the number of teeth of the first planetary gear is 37, the number of teeth of the second planetary gear is 39, the number of teeth of the third planetary gear is 41, and the number of teeth of the fourth planetary gear is 43.

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