Encoder and servo motor system

Abstract

The invention provides an encoder and a servo motor system. The encoder comprises a power device; the electromagnetic generation assembly is driven by the power device to generate an induced magnetic field; the piezoelectric sensors are arranged on one side of the electromagnetic generation assembly at intervals and used for being matched with the electromagnetic generation assembly to convert the induced magnetic field into pulse current; and the rectification circuit module is electrically connected with the piezoelectric sensor and is used for converting the pulse current into a direct current power supply to supply power to the encoder, through the technical scheme, the maintenance cost caused by a built-in battery of the encoder is saved, the complexity of a system circuit is reduced, and the system circuit is lighter.

Description

Technical Field

[0001] This application relates to the field of encoders, and more particularly, to an encoder and a servo motor system. Background Art

[0002] The current rotary encoders on the market can be divided into two types according to the power supply method. One type does not require power supply, and the other is powered by an external power supply or uses a battery internally. Among them, the encoder without power supply uses a mechanical gear set similar to a clock structure to measure the number of turns. The device structure of this measurement method is complex, with high precision requirements and high cost. The encoder powered by an external power supply or using a battery internally processes the data of the number of rotation turns through a circuit composed of multiple devices such as a single-chip microcomputer, FPGA, and storage chip, performs multi-turn accumulation counting and storage inside the chip. The circuit components for counting the number of turns are numerous and the layout is complex, and its built-in battery needs to be replaced and maintained, further increasing the cost of manpower and material resources. Summary of the Invention

[0003] The main purpose of this application is to provide an encoder and a servo motor system to at least solve the problems of complex device structure and high cost of the encoder in the prior art.

[0004] To achieve the above object, according to one aspect of this application, an encoder is provided, including: a power device; an electromagnetic generating component that generates an induced magnetic field under the drive of the power device; a piezoelectric sensor spaced apart from one side of the electromagnetic generating component for cooperating with the electromagnetic generating component to convert the induced magnetic field into a pulsed current; a rectifier circuit module electrically connected to the piezoelectric sensor for converting the pulsed current into a DC power supply to power the encoder.

[0005] Optionally, the encoder further includes: a magnetic induction module located on one side of the electromagnetic generating component for collecting the induced magnetic field and outputting the magnetic field information of the induced magnetic field, where the magnetic field information includes the direction and intensity of the magnetic field; a direction discrimination circuit module electrically connected to the magnetic induction module for determining the movement direction of the encoder to detect the object to be measured according to the magnetic field information and outputting direction information.

[0006] Optionally, the encoder further includes: a microcontroller unit electrically connected to the rectifier circuit module, the direction discrimination circuit module, and the magnetic induction module respectively. The microcontroller unit is used to receive the direction information output by the direction discrimination circuit module and the magnetic field information output by the magnetic induction module to obtain data information; a magnetic random access memory electrically connected to the microcontroller unit for storing the data information.

[0007] Optionally, the encoder further includes: a power conversion module electrically connected to an external power supply and a piezoelectric sensor respectively, an output end of the power conversion module being electrically connected to a rectification circuit module, the power conversion module being configured to switch between a first power supply mode and a second power supply mode, wherein the first power supply mode is that the external power supply supplies power to the encoder, and the second power supply mode is that the piezoelectric sensor serves as the power supply for the encoder.

[0008] Optionally, the encoder further includes: a circuit board having a first surface, on which a piezoelectric sensor, a power conversion module, a rectification circuit module, a microcontroller unit, and a magnetic random access memory are provided, and the piezoelectric sensor, the power conversion module, the rectification circuit module, the microcontroller unit, and the magnetic random access memory are electrically connected through the circuit board.

[0009] Optionally, the circuit board further has a second surface opposite to the first surface, on which a direction discrimination circuit module and a magnetic induction module are provided, wherein the direction discrimination circuit module and the magnetic induction module are electrically connected through the circuit board.

[0010] Optionally, the encoder has a plurality of direction discrimination circuit modules, and the plurality of direction discrimination circuit modules are cascaded through the circuit board.

[0011] Optionally, the electromagnetic generating assembly has two repelling poles, and the piezoelectric sensor includes: an electromagnetic acting assembly having two repelling poles, in a case where the electromagnetic generating assembly is in a first position, the electromagnetic generating assembly and the electromagnetic acting assembly are opposite with different poles, and in a case where the electromagnetic generating assembly is in a second position, the electromagnetic generating assembly and the electromagnetic acting assembly are opposite with the same poles, and the first position and the second position are periodically switched to generate corresponding attractive and repulsive forces between the electromagnetic acting assembly and the electromagnetic generating assembly; a piezoelectric assembly located on one side of the electromagnetic acting assembly and cooperating with the electromagnetic acting assembly to generate electric energy under the action of the attractive and repulsive forces.

[0012] Optionally, the piezoelectric sensor further includes: a fixing assembly located on a side of the piezoelectric assembly away from the electromagnetic acting assembly for fixing the piezoelectric sensor.

[0013] According to another aspect of the present application, there is provided a servo motor system including an encoder, and the encoder is the above-mentioned encoder.

[0014] Applying the technical solution of the present application, the encoder includes a power device, an electromagnetic generating component, a piezoelectric sensor, and a rectifier circuit module. Among them, the electromagnetic generating component is fixed on the power device, and the power device drives the electromagnetic generating component to generate an induced magnetic field; the piezoelectric sensor is disposed at one side of the electromagnetic generating component at intervals and cooperates with the electromagnetic generating component to convert the induced magnetic field into a pulsed current; the rectifier circuit module receives the pulsed current and converts it into a DC power supply to supply power to the encoder. Through the above technical solution, the maintenance cost brought by the built-in battery of the encoder is eliminated, and the complexity of the system circuit is reduced, making it more lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings forming a part of this application are used to provide a further understanding of the present application. The schematic embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0016] Figure 1 It shows a partial structural block diagram of an encoder provided in an embodiment of the present application;

[0017] Figure 2 It shows a partial structural block diagram of another encoder provided in an embodiment of the present application;

[0018] Figure 3 It shows a partial structural block diagram of another encoder provided in an embodiment of the present application;

[0019] Figure 4 It shows a structural block diagram of an encoder provided in an embodiment of the present application;

[0020] Figure 5 It shows a three-dimensional structural schematic diagram of one side of an encoder circuit board facing its first surface provided in an embodiment of the present application;

[0021] Figure 6 It shows a three-dimensional structural schematic diagram of one side of an encoder circuit board facing its second surface provided in an embodiment of the present application;

[0022] Figure 7 It shows a three-dimensional structural schematic diagram of a piezoelectric sensor in an encoder provided in an embodiment of the present application;

[0023] Figure 8 It shows a cross-sectional structural schematic diagram of a piezoelectric sensor in an encoder provided in an embodiment of the present application.

[0024] Among them, the above-mentioned drawings include the following reference numerals:

[0025] 10. Power device; 20. Electromagnetic generating component; 30. Piezoelectric sensor; 40. Rectifier circuit module; 50. Magnetic induction module; 60. Direction discrimination circuit module; 70. Microcontroller unit; 80. Magnetic random access memory; 90. Power conversion module; 100. External power supply; 110. Circuit board; 120. Electromagnetic action component; 130. Piezoelectric component; 140. Fixing component; 150. Housing. Detailed implementation manner

[0026] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to describe the embodiments of the present application here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background art, rotary encoders in the prior art can be classified into two types according to the power supply method. One is without power supply, and the other is powered by an external power supply or a battery inside. Among them, the encoder without power supply uses a mechanical gear set similar to a clock structure to measure the number of turns. The device structure of this measurement method is complex, with high precision requirements and high cost. For the encoder powered by an external power supply or a battery inside, the data of the number of rotation turns is processed by a circuit composed of multiple devices such as a single-chip microcomputer, FPGA, and storage chip, and multi-turn accumulation counting and storage are performed inside the chip. The circuit elements for counting the number of turns are numerous and the layout is complex, and its built-in battery needs to be replaced and maintained, further increasing the cost of manpower and material resources. To solve the problems of complex device structure and high cost of the encoder in the prior art, the embodiments of the present application provide an encoder and a servo motor system.

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] The embodiments of the present application provide an encoder, as Figure 1 shown, the encoder includes: a power device 10, an electromagnetic generating component 20, a piezoelectric sensor 30, and a rectifying circuit module 40. Among them, the electromagnetic generating component 20 generates an induced magnetic field under the drive of the power device 10. The piezoelectric sensor 30 is arranged at one side of the electromagnetic generating component 20 at intervals, and is used to cooperate with the electromagnetic generating component 20 to convert the induced magnetic field into a pulsed current. The rectifying circuit module 40 is electrically connected to the piezoelectric sensor 30, and is used to convert the pulsed current into a DC power supply to supply power to the encoder.

[0032] Using the above encoder of the embodiments of the present application, the encoder includes a power device, an electromagnetic generating component, a piezoelectric sensor, and a rectifying circuit module. Among them, the electromagnetic generating component is fixed on the power device, and the drive of the power device causes the electromagnetic generating component to generate an induced magnetic field; the piezoelectric sensor is arranged at one side of the electromagnetic generating component at intervals, and cooperates with the electromagnetic generating component to convert the induced magnetic field into a pulsed current; the rectifying circuit module receives the pulsed current and converts it into a DC power supply to supply power to the encoder. Through the above technical solution, the maintenance cost brought by the built-in battery of the encoder is saved, and the complexity of the system circuit is reduced, making it more lightweight.

[0033] In the above optional embodiment, as Figure 1As shown, the power device 10 provides power for the encoder, driving the electromagnetic generating component 20 to rotate, so that the electromagnetic generating component 20 generates a changing induced electric field. The piezoelectric sensor 30 is arranged at an interval from the electromagnetic generating component 20. Inside the piezoelectric sensor 30, a magnet interacts with the induced magnetic field generated by the electromagnetic generating component 20, converting the induced magnetic field into a pulsed current and inputting it into the rectifier circuit module 40. The rectifier circuit module 40 converts the pulsed current into a DC power supply through a bridge conversion to supply power to the encoder. Through the above technical solution, the maintenance cost brought by the built-in battery of the encoder is saved, and the complexity of the system circuit is reduced, making it more lightweight.

[0034] In some alternative embodiments, such as Figure 2 As shown, the encoder further includes a magnetic induction module 50 and a direction discrimination circuit module 60. The magnetic induction module 50 is used to sense the induced magnetic field and output the magnetic field information of the induced magnetic field, and the magnetic field information includes the direction and intensity of the magnetic field; the direction discrimination circuit module 60 is electrically connected to the magnetic induction module 50 and determines the moving direction of the encoder detecting the object to be measured according to the magnetic field information.

[0035] In the above alternative embodiments, such as Figure 2 As shown, the direction discrimination circuit module 60 is electrically connected to the magnetic induction module 50. Specifically, the encoder is a measuring device that obtains information by measuring the rotation angle or position of the object to be measured. The magnetic induction module 50 can collect the induced magnetic field and output the magnetic field intensity and direction of the induced magnetic field. The direction discrimination circuit module 60 judges the moving direction of the object according to the magnetic field intensity and direction output by the magnetic induction module 50. For example, it detects whether the object to be measured rotates clockwise or counterclockwise. The encoder determines the rotation direction and position information of the object to be measured through the cooperation of the direction discrimination circuit module 60 and the magnetic induction module 50.

[0036] In the above alternative embodiments, the magnetic induction module 50 is a module that can sense the magnetic field. It is usually composed of a magnetic sensitive element and a signal processing circuit. When the intensity and direction of the magnetic field change, the magnetic induction module 50 will generate corresponding signal outputs. These signals can represent the intensity and direction of the magnetic field. The specific magnetic field information can be obtained by processing and analyzing these signals; the magnetic induction module 50 is also a position sensor. When the magnetic induction module 50 and the direction discrimination circuit module 60 are integrated in the encoder, the magnetic induction module 50 can sense the position and moving direction of the encoder detecting the object to be measured, and the direction discrimination circuit module 60 can judge the moving direction of the object according to the signal with magnetic field information output by the magnetic induction module 50. Through the combination of the magnetic induction module 50 and the direction discrimination circuit module 60, the encoder can accurately detect the position and rotation direction of the object to be measured.

[0037] In some alternative embodiments, such asFigure 2 As shown, the encoder further includes a microcontroller unit 70 and a magnetic random access memory 80. The microcontroller unit 70 is electrically connected to a rectifier circuit module 40, a direction discrimination circuit module 60, and a magnetic induction module 50 respectively. The microcontroller unit 70 is configured to receive the direction information output by the direction discrimination circuit module 60 and the magnetic field information output by the magnetic induction module 50 to obtain data information. The magnetic random access memory 80 is electrically connected to the microcontroller unit 70 for storing the above data information.

[0038] In the above optional embodiment, as Figure 2 shown, the rectifier circuit module 40 provides a DC power supply for the microcontroller unit 70. The microcontroller unit 70 receives the direction discrimination circuit module 60 and the magnetic induction module 50 to cooperate with each other to determine the position and rotation direction of the object to be measured, and transmits the above signals to the magnetic random access memory 80 for storage.

[0039] In some optional embodiments, as Figure 3 shown, the encoder further includes a power conversion module 90. The input end of the power conversion module 90 is electrically connected to an external power supply 100 and a piezoelectric sensor 30 respectively. The output end of the power conversion module 90 is electrically connected to the rectifier circuit module 40. The above power conversion module 90 is used to switch between a first power supply mode and a second power supply mode. Among them, the first power supply mode is that the external power supply 100 supplies power to the encoder, and the second power supply mode is that the piezoelectric sensor 30 serves as the power supply for the encoder.

[0040] In the above optional embodiment, as Figure 3 shown, the encoder has two power supply modes. The power conversion module 90 is electrically connected to the external power supply 100 and the rectifier circuit module 40 respectively. The output end of the power conversion module 90 is electrically connected to the rectifier circuit module 40. The power conversion module 90 is used to switch between a first power supply mode and a second power supply mode. The first power supply mode is to connect the external power supply 100 to supply power to the encoder. At this time, the power conversion module 90 is electrically connected to the external power supply 100 and the rectifier circuit module 40 respectively. The second power supply mode is that the piezoelectric sensor 30 supplies power to the encoder. At this time, the power conversion module 90 is electrically connected to the piezoelectric sensor 30 and the rectifier circuit module 40 respectively. Using the power conversion module 90 can enable the encoder to have two options in the power supply method, which can cope with different application scenarios and emergencies, improve the practicability of the encoder, and power the encoder through the piezoelectric sensor, eliminating the maintenance cost brought by the built-in battery of the encoder and reducing the complexity of the system circuit, making it more lightweight.

[0041] Exemplarily, as Figure 4As shown in the figure, the functional modules in the encoder include a piezoelectric sensor 30, a rectification circuit module 40, a magnetic induction module 50, a direction discrimination circuit module 60, a microcontroller unit 70, a magnetic random access memory 80, and a power conversion module 90. Inside the piezoelectric sensor 30, the interaction between a magnet and an electromagnetic generating component generates an induced magnetic field, which is converted into a pulsed current and input into the rectification circuit module 40. The rectification circuit module 40 converts the pulsed current into a DC power supply through a bridge conversion to power the encoder. The magnetic induction module 50 consists of a magnetic sensor element and a signal processing circuit. When the intensity and direction of the magnetic field change, the magnetic induction module 50 generates corresponding signals to represent the intensity and direction of the magnetic field. By processing and analyzing these signals, specific magnetic field information can be obtained, and the position and movement direction of the object to be measured detected by the encoder can be sensed through the magnetic field information. The direction discrimination circuit module 60 can determine the movement direction of the object based on the output signal of the magnetic induction module 50. Through the combination of the magnetic induction module 50 and the direction discrimination circuit module 60, the encoder can accurately detect the position and rotation direction of the object to be measured. The rectification circuit module 40 provides a DC power supply for the microcontroller unit 70. The microcontroller unit 70 receives the position and rotation direction of the object to be measured determined by the cooperation of the direction discrimination circuit module 60 and the magnetic induction module 50, and transmits the above signals to the magnetic random access memory 80 for storage. Further, by integrating the power conversion module 90, the encoder has two power supply modes. In the first power supply mode, the power conversion module 90 is electrically connected to an external power supply 100 and the rectification circuit module 40 respectively to connect the external power supply 100 to power the encoder. In the second power supply mode, the power conversion module 90 is electrically connected to the piezoelectric sensor 30 and the rectification circuit module 40 respectively to enable the piezoelectric sensor 30 to power the encoder. Through the above technical solutions, the maintenance cost brought by the built-in battery of the encoder is eliminated, and the complexity of the system circuit is reduced, making it more lightweight.

[0042] In some alternative embodiments, as Figure 5 shown, the encoder further includes a circuit board 110. The circuit board 110 has a first surface, and the first surface is provided with a piezoelectric sensor 30, a power conversion module 90, a rectification circuit module 40, a microcontroller unit 70, and a magnetic random access memory 80. The piezoelectric sensor 30, the power conversion module 90, the rectification circuit module 40, the microcontroller unit 70, and the magnetic random access memory 80 are electrically connected through the circuit board 110.

[0043] In the above alternative embodiments, as Figure 5As shown, some functional modules in the encoder are arranged on the first surface of the encoder and are all electrically connected through the circuit board 110, such as the piezoelectric sensor 30, the power conversion module 90, the rectification circuit module 40, the microcontroller unit 70, and the magnetic random access memory 80. The piezoelectric sensor 30, the power conversion module 90, the rectification circuit module 40, the microcontroller unit 70, and the magnetic random access memory 80 are all electrically connected through the circuit board 110.

[0044] In the above optional embodiment, the circuit board 110 can be a double-sided circuit board. Specifically, any one of a double-sided circuit board, a metal base PCB board, and a hybrid dielectric base high-frequency double-sided circuit board can be used. Those skilled in the art can reasonably select the type of the circuit board, and this application does not make specific limitations.

[0045] In some optional embodiments, as Figure 6 shown, the circuit board 110 also has a second surface opposite to the first surface, and a direction discrimination circuit module 60 and a magnetic induction module 50 are arranged on the second surface. Among them, the direction discrimination circuit module 60 and the magnetic induction module 50 are electrically connected through the circuit board 110.

[0046] In the above optional embodiment, as Figure 6 shown, another part of the functional modules in the encoder are arranged on the second surface of the encoder and are all electrically connected through the circuit board 110. For example, the direction discrimination circuit module 60 and the magnetic induction module 50 are electrically connected through the circuit board 110.

[0047] In the above optional embodiment, the direction discrimination circuit module 60 may include a plurality of magnetosensitive sensors arranged orthogonally, a signal amplifier, an analog-to-digital converter, a digital signal processor, and a control logic. Among them, the magnetosensitive sensors are used to detect the direction of the external magnetic field. These magnetosensitive sensors are usually sensors based on the Hall effect or the magnetoresistive effect and can sense the intensity and direction of the surrounding magnetic field; the signal amplifier is used to amplify the weak electrical signal output by the magnetosensitive sensors for subsequent processing; the analog-to-digital converter converts the amplified analog signal into a digital signal for digital signal processing; the digital signal processor processes and analyzes the digital signal to determine the direction of the magnetic field; the control logic controls the output of relevant direction information or makes the encoder perform a specific direction movement operation according to the analysis result of the digital signal processor; the encoder determines the rotation direction and position information of the object to be measured through the mutual cooperation of the direction discrimination circuit module 60 and the magnetic induction module 50.

[0048] In some optional embodiments, as Figure 6 shown, the encoder has a plurality of direction discrimination circuit modules 60, and the plurality of direction discrimination circuit modules 60 are cascaded through the circuit board 110.

[0049] In the above optional embodiments, as Figure 6 shown, the encoder needs to have a plurality of direction discrimination circuit modules 60 to accurately identify the rotation direction of the object to be measured, and the plurality of direction discrimination circuit modules 60 are cascaded electrically connected, that is, each direction discrimination circuit module 60 receives the output signal from the previous direction discrimination circuit module 60 as an input and generates an output signal for indicating the rotation direction. In other words, each direction discrimination circuit module 60 will judge the rotation direction according to the output signal of the previous direction discrimination circuit module 60 and transmit the result to the next direction discrimination circuit module 60. This cascaded connection method can enable the plurality of direction discrimination circuit modules 60 to work together, thereby realizing accurate discrimination of the rotation direction and improving the working accuracy of the encoder.

[0050] In some optional embodiments, as Figure 5 、 Figures 7 to 8 shown, the electromagnetic generating assembly 20 has two repelling poles. The piezoelectric sensor includes: an electromagnetic acting assembly 120 having two repelling poles. When the electromagnetic generating assembly 20 is in the first position, the electromagnetic generating assembly 20 and the electromagnetic acting assembly 120 have opposite poles facing each other. When the electromagnetic generating assembly is in the second position, the electromagnetic generating assembly 20 and the electromagnetic acting assembly 120 have the same poles facing each other. The first position and the second position are switched periodically so that corresponding attraction and repulsion forces are generated between the electromagnetic acting assembly 120 and the electromagnetic generating assembly 20; a piezoelectric assembly 130 located on one side of the electromagnetic acting assembly 120 and cooperating with the electromagnetic acting assembly 120 to generate electric energy under the action of the attraction and repulsion forces.

[0051] In the above optional embodiments, as Figure 5 、 Figures 7 to 8As shown, both the electromagnetic generating component 20 and the electromagnetic acting component 120 are magnets with two repulsive poles. The electromagnetic generating component 20 is set to have a first position and a second position. In the case where the electromagnetic generating component 20 is in the first position, the electromagnetic generating component 20 and the electromagnetic acting component 120 are opposite in poles, that is, the N pole in the electromagnetic generating component 20 is opposite to the S pole of the electromagnetic acting component 120, and the S pole in the electromagnetic generating component 20 is opposite to the N pole of the electromagnetic acting component 120; in the case where the electromagnetic generating component is in the second position, the electromagnetic generating component 20 and the electromagnetic acting component 120 are the same in poles, that is, the N pole in the electromagnetic generating component 20 is opposite to the N pole of the electromagnetic acting component 120, and the S pole in the electromagnetic generating component 20 is opposite to the S pole of the electromagnetic acting component 120. The power device drives the electromagnetic generating component 20 to rotate to generate a changing induced electric field. During the rotation process, the first position and the second position of the electromagnetic generating component 20 will be periodically switched to generate corresponding attractive and repulsive forces between the electromagnetic acting component 120 and the electromagnetic generating component 20. The piezoelectric component 130 cooperates with the electromagnetic acting component 120 to generate electric energy under the action of the attractive and repulsive forces.

[0052] In the above optional embodiment, the magnet materials of the electromagnetic generating component 20 and the electromagnetic acting component 120 can be high magnetic permeability materials such as ferrite, cobalt-iron alloy, nickel-iron alloy, and ferrite. Those skilled in the art can reasonably select the materials of the magnets of the electromagnetic generating component and the electromagnetic acting component according to the actual situation, and the present application does not make specific limitations.

[0053] In some optional embodiments, as Figures 7 to 8 shown, the piezoelectric sensor further includes: a fixing component 140, located on the side of the piezoelectric component 130 away from the electromagnetic acting component 120, for fixing the piezoelectric sensor.

[0054] In the above optional embodiment, as Figures 7 to 8 shown, in order to fix the piezoelectric sensor as a whole in the piezoelectric sensor, a fixing component 140 and a housing 150 are provided. The fixing component 140 and the housing 150 fix the piezoelectric component 130 and the electromagnetic acting component 120 therebetween, so that the piezoelectric component 130 and the electromagnetic acting component 120 are in contact and do not move up and down, so as to better enable the piezoelectric component 130 to cooperate with the electromagnetic acting component 120 to generate electric energy under the action of attractive and repulsive forces.

[0055] Exemplarily, as Figures 1 to 8As shown, the circuit board 110 is a double-sided circuit board. A part of the functional modules in the encoder are arranged on the first surface of the circuit board and are all electrically connected through the circuit board 110, such as the piezoelectric sensor 30, the power conversion module 90, the rectifier circuit module 40, the microcontroller unit 70, and the magnetic random access memory 80. The piezoelectric sensor 30, the power conversion module 90, the rectifier circuit module 40, the microcontroller unit 70, and the magnetic random access memory 80 are all electrically connected through the circuit board 110. The piezoelectric sensor has an electromagnetic action component 120, a piezoelectric component 130, and a fixing component 140. Both the electromagnetic generating component 20 and the electromagnetic action component 120 have two repulsive poles. When the electromagnetic generating component 20 is in the first position, the electromagnetic generating component 20 and the electromagnetic action component 120 have opposite poles facing each other, that is, the N pole in the electromagnetic generating component 20 faces the S pole of the electromagnetic action component 120, and the S pole in the electromagnetic generating component 20 faces the N pole of the electromagnetic action component 120; when the electromagnetic generating component is in the second position, the electromagnetic generating component 20 and the electromagnetic action component 120 have the same poles facing each other, that is, the N pole in the electromagnetic generating component 20 faces the N pole of the electromagnetic action component 120, and the S pole in the electromagnetic generating component 20 faces the S pole of the electromagnetic action component 120. The power device drives the electromagnetic generating component 20 to rotate to generate a changing induced electric field. During the rotation process, the first position and the second position of the electromagnetic generating component 20 will be periodically switched so that corresponding attractive and repulsive forces are generated between the electromagnetic action component 120 and the electromagnetic generating component 20. The piezoelectric component 130 cooperates with the electromagnetic action component 120 to generate electric energy under the action of the attractive and repulsive forces;

[0056] Another part of the functional modules in the encoder are arranged on the second surface of the circuit board and are all electrically connected through the circuit board 110. For example, the direction discrimination circuit module 60 and the magnetic induction module 50 are electrically connected through the circuit board 110. The encoder also needs to have multiple direction discrimination circuit modules 60 to accurately identify the rotation direction of the object to be measured, and the multiple direction discrimination circuit modules 60 are cascaded and electrically connected. That is, each direction discrimination circuit module 60 receives the output signal from the previous direction discrimination circuit module 60 as an input and generates an output signal to indicate the rotation direction. In other words, each direction discrimination circuit module 60 will judge the rotation direction according to the output signal of the previous direction discrimination circuit module 60 and transmit the result to the next direction discrimination circuit module 60. Through the cascaded connection method, multiple direction discrimination circuit modules 60 can work together to accurately discriminate the rotation direction and improve the working accuracy of the encoder.

[0057] According to another aspect of the present application, a servo motor system is provided, including an encoder, and the encoder is the above-mentioned encoder.

[0058] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0059] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0060] 1), The encoder provided by the present application includes a power device, an electromagnetic generating component, a piezoelectric sensor and a rectifier circuit module. Among them, the electromagnetic generating component is fixed on the power device, and the power device drives the electromagnetic generating component to generate an induced magnetic field; the piezoelectric sensor is arranged at one side of the electromagnetic generating component at intervals, and cooperates with the electromagnetic generating component to convert the induced magnetic field into a pulse current; the rectifier circuit module receives the pulse current and converts it into a DC power supply to supply power to the encoder. Through the above technical solution, the maintenance cost brought by the built-in battery of the encoder is saved, and the complexity of the system circuit is reduced, making it lighter.

[0061] 2), Two power supply modes are set in the encoder of the present application. The use of a power conversion module to switch between the two power supply modes allows the encoder to have two options in terms of power supply methods, so as to cope with different application scenarios and emergencies, improving the practicability of the encoder.

[0062] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An encoder, characterized in that, Comprising: A power device; An electromagnetic generating component that generates an induced magnetic field under the drive of the power device; A piezoelectric sensor, spaced apart on one side of the electromagnetic generating component, for cooperating with the electromagnetic generating component to convert the induced magnetic field into a pulsed current; A rectifier circuit module, electrically connected to the piezoelectric sensor, for converting the pulsed current into a DC power supply to supply power to the encoder.

2. The encoder according to claim 1, characterized in that, The encoder further comprises: A magnetic induction module, located on one side of the electromagnetic generating component, for collecting the induced magnetic field and outputting the magnetic field information of the induced magnetic field, the magnetic field information including the direction and intensity of the magnetic field; A direction discrimination circuit module, electrically connected to the magnetic induction module, for determining the movement direction of the encoder to detect a to-be-detected object according to the magnetic field information and outputting direction information.

3. The encoder according to claim 2, characterized in that The encoder further comprises: A microcontroller unit, electrically connected to the rectifier circuit module, the direction discrimination circuit module, and the magnetic induction module respectively, the microcontroller unit being configured to receive the direction information output by the direction discrimination circuit module and the magnetic field information output by the magnetic induction module to obtain data information; A magnetic random access memory, electrically connected to the microcontroller unit, for storing the data information.

4. The encoder according to claim 3, wherein, The encoder further comprises: A power conversion module, electrically connected to an external power supply and the piezoelectric sensor respectively, an output end of the power conversion module being electrically connected to the rectifier circuit module, the power conversion module being configured to switch between a first power supply mode and a second power supply mode, wherein the first power supply mode is that the external power supply supplies power to the encoder, and the second power supply mode is that the piezoelectric sensor serves as the power supply of the encoder.

5. The encoder according to claim 4, wherein The encoder further comprises: A circuit board, having a first surface, on which the piezoelectric sensor, the power conversion module, the rectifier circuit module, the microcontroller unit, and the magnetic random access memory are arranged, and the piezoelectric sensor, the power conversion module, the rectifier circuit module, the microcontroller unit, and the magnetic random access memory are electrically connected through the circuit board.

6. The encoder according to claim 5, characterized in that, The circuit board further has a second surface opposite to the first surface, on which the direction discrimination circuit module and the magnetic induction module are arranged, wherein the direction discrimination circuit module and the magnetic induction module are electrically connected through the circuit board.

7. The encoder according to claim 5, wherein The encoder has a plurality of the direction discrimination circuit modules, and the plurality of direction discrimination circuit modules are cascaded through the circuit board.

8. The encoder according to claim 5, characterized in that, The electromagnetic generating component has two mutually repulsive poles, and the piezoelectric sensor comprises: An electromagnetic interaction component, having two mutually repulsive poles, in a case where the electromagnetic generating component is in a first position, the electromagnetic generating component and the electromagnetic interaction component have opposite poles facing each other, and in a case where the electromagnetic generating component is in a second position, the electromagnetic generating component and the electromagnetic interaction component have the same poles facing each other, and the first position and the second position are switched periodically to generate corresponding attractive and repulsive forces between the electromagnetic interaction component and the electromagnetic generating component; The piezoelectric component is located on one side of the electromagnetic acting component and cooperates with the electromagnetic acting component to generate electric energy under the action of the attraction force and the repulsive force.

9. The encoder according to claim 8, characterized in that, The piezoelectric sensor further includes: A fixing component, located on the side of the piezoelectric component away from the electromagnetic acting component, for fixing the piezoelectric sensor.

10. A servo motor system includes an encoder, characterized in that, The encoder is the encoder according to any one of claims 1 to 9.

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