Inductance type measuring device

Abstract

The invention relates to the technical field of measurement, and provides an inductance type measuring device, which comprises a stator, a plurality of sub-regions and a plurality of coils, the first partition is used for arranging a magnetic field induction coil of at least one code channel of the first encoder, the second partition is used for arranging a magnetic field induction coil of at least one code channel of the second encoder, and the third partition is used for an encoder circuit; the at least two rotors are respectively provided with a magnetic field generating coil of a code channel of the first encoder and a magnetic field generating coil of a code channel of the second encoder; wherein the plurality of rotors are arranged in a manner that the magnetic field generating coil and the magnetic field induction coil, corresponding to the same code channel, of the same encoder are arranged in an electromagnetic induction alignment manner; wherein the sensing signal frequency and / or the time slot of the code channels are configured to enable the code channels to work in a frequency division and / or time division manner. Therefore, the device can integrate a plurality of encoders to improve the integration level, and can enable code channel frequency division and / or time division work to avoid interference.

Description

Technical Field

[0001] This disclosure relates to the field of measurement technology, and more particularly to inductive measuring devices. Background Technology

[0002] An encoder is a device or algorithm that converts physical quantities (such as position, angle, and speed) or information (such as data and signals) into a measurable, transmissible, or processable form. It is widely used in industrial control, communication, electronics, and other fields.

[0003] Based on different types of detection signals, encoders can be categorized into: photoelectric encoders, capacitive encoders, magnetoelectric encoders, and inductive encoders. Photoelectric encoders offer high accuracy but are susceptible to strong vibrations and shocks, and are easily affected by moisture condensation and dust. Capacitive encoders have poor environmental adaptability, and their accuracy is easily affected by humidity. Magnetoelectric encoders, specifically eddy current induction encoders, are less affected by humidity and condensation, but their accuracy is lower.

[0004] Inductive encoders detect position information by measuring changes in the inductance of a magnetic field induction coil array. The advantages of inductive encoders are high reliability and accuracy. However, current inductive encoders are still relatively large and not compact enough. In compact applications, such as robotic arms and monitoring spheres, where high precision and reliability are required, sufficient space is necessary for installation. In scenarios requiring multiple inductive encoders, the installation process is cumbersome and has high installation requirements.

[0005] Furthermore, the principle of inductive encoders is based on the periodic change of the signal formed by the electromagnetic induction between the coil pair of the mover and electrons to determine the position. Therefore, when multiple inductive encoders are used together, the magnetic field interference between the code tracks of the multiple inductive encoders must also be considered. Encoders are divided into incremental and absolute types. Incremental encoders are encoders that measure and accumulate the relative displacement each time, and only a single code track is needed to obtain the incremental displacement. Absolute encoders require multiple code tracks (e.g., 2-3), and the unique absolute position is determined by the combination of the displacement values ​​of multiple code tracks. The more code tracks, the higher the resolution and the more accurate the determined absolute position. Therefore, if n absolute inductive encoders are used in a group in a scene, there will be 2n or 3n code tracks, which is a large number, so the interference problem between them must be considered. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this disclosure is to provide an inductive measuring device that solves the problems of code track interference and encoder size in the related art.

[0007] The first aspect of this disclosure provides an inductive measuring device, comprising: a stator forming multiple partitions, a first partition for arranging magnetic field induction coils of at least one code track of a first encoder, a second partition for arranging magnetic field induction coils of at least one code track of a second encoder, and a third partition for encoder circuitry; at least two movers, each arranged with a magnetic field generating coil of a code track of the first encoder and a magnetic field generating coil of a code track of the second encoder; wherein the multiple movers are arranged such that the magnetic field generating coils and magnetic field induction coils of the same encoder corresponding to the same code track are electromagnetically aligned; wherein the induced signal frequency and / or time slot of each code track is configured to operate in a frequency-division and / or time-division manner between code tracks; the induced signal frequency is related to the density of the periodic pattern distribution of the magnetic field induction coils.

[0008] In the embodiments of the first aspect, the code tracks of each encoder operate at the same frequency, and the code tracks of different encoders operate in a time-division manner; or, the code tracks of each encoder operate in a time-division and frequency-division manner.

[0009] In an embodiment of the first aspect, during time-sharing operation, the working duration allocated to multiple code channels is positively correlated with the motion speed of their movers.

[0010] In an embodiment of the first aspect, the frequency division is implemented by setting the signal frequencies to a staggered multiplication factor relationship.

[0011] In an embodiment of the first aspect, the stator has a ring structure and includes: a plurality of sensing regions arranged concentrically in a ring as the first partition and the second partition; each sensing region is provided with a magnetic field induction coil for an encoder track.

[0012] In an embodiment of the first aspect, the third partition is implemented as a circuit setting area surrounding the plurality of sensing areas, and the encoder circuit is arranged circumferentially along the circuit setting area; the encoder circuit includes signal processing circuits of the first encoder and the second encoder connected to their respective magnetic field sensing circuits, and a connector connected to the signal processing circuits for external communication.

[0013] In an embodiment of the first aspect, the circuit setting area is further provided with a mounting portion for fixing the stator to the outside.

[0014] In an embodiment of the first aspect, each of the movers includes: an annular code disk carrying a magnetic field generating coil for the code track of the encoder; the code disk is aligned with a sensing area.

[0015] In an embodiment of the first aspect, the stator and / or mover is implemented as a preset circuit board layer structure, the circuit board layer structure comprising: a plurality of circuit layers arranged axially, an array of vias, and a shielding layer; the stator and / or at least partially arranged in the plurality of circuit layers are the magnetic field induction coil or magnetic field generating coil; the via array forms an electrical connection between designated circuit layers; and the shielding layer is disposed on an end face away from the magnetic field induction coil.

[0016] In an embodiment of the first aspect, the housing surface of the mover is provided with an adhesive surface for bonding and fixing to the outside; and / or, the mover is provided with a positioning structure at the edge of the inner hole for positioning and engaging with an insert.

[0017] In an embodiment of the first aspect, the stator further includes: at least one power transmitting coil; the mover includes: at least one power receiving coil, electromagnetically aligned with the power transmitting coil to obtain energy, and coupled to each of the magnetic field generating coils to transmit the energy that generates the magnetic field.

[0018] As described above, this disclosure relates to the field of measurement technology and provides an inductive measuring device. The inductive measuring device includes: a stator forming multiple partitions, a first partition for arranging magnetic field induction coils of at least one code track of a first encoder, a second partition for arranging magnetic field induction coils of at least one code track of a second encoder, and a third partition for encoder circuitry; at least two movers, each arranging a magnetic field generating coil of a code track of the first encoder and a magnetic field generating coil of a code track of the second encoder; wherein the multiple movers are arranged such that the magnetic field generating coils and magnetic field induction coils of the same encoder corresponding to the same code track are electromagnetically aligned; wherein the frequency and / or time slot of the induction signal of the code track are configured to allow frequency division and / or time division operation between code tracks. Thus, this device can integrate multiple encoders to improve integration and enables frequency division and / or time division operation of code tracks to avoid interference, thereby meeting the requirement of "compact" use of multiple inductive position acquisition devices, effectively saving space, and further reducing size. Attached Figure Description

[0019] Figure 1 A schematic planar structure diagram of an inductive measuring device according to an embodiment of the present disclosure is shown.

[0020] Figure 2 exhibit Figure 1 A schematic diagram of the planar structure of the stator of an inductive measuring device.

[0021] Figure 3 A structural schematic diagram showing the complete pattern of a figure-eight shaped magnetic field induction coil in one embodiment of this disclosure.

[0022] Figure 4A schematic diagram of the structure of a figure-eight shaped magnetic field induction coil is shown in another embodiment of this disclosure.

[0023] Figure 5 This illustration shows a schematic diagram of the frequency division and time division principle between code tracks of multiple encoders in one embodiment of the present disclosure.

[0024] Figure 6 This illustration shows a schematic diagram of the frequency division and time division principle between code tracks of multiple encoders in another embodiment of the present disclosure.

[0025] Figure 7 A schematic diagram of the circuit board layer structure used in the stator in one embodiment of this disclosure is shown. Detailed Implementation

[0026] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this disclosure can be modified or changed according to different viewpoints and application modules without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0027] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0028] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one embodiment or example. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of different embodiments or examples.

[0029] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a" means two or more, unless otherwise expressly specified.

[0030] For the purpose of clarity, devices unrelated to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0031] Throughout this specification, when it is stated that a device is "conductively connected" to another device, this includes not only "direct conductive connection" but also "indirect conductive connection" by placing other components in between. Furthermore, when it is stated that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0032] While the terms first, second, etc., are used in some examples herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, module, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, modules, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0033] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this disclosure. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in this specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0034] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the message of the present disclosure, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0035] Based on different types of detected signals, encoders can be categorized into: photoelectric encoders, capacitive encoders, magnetoelectric encoders, and inductive measuring devices. Photoelectric encoders offer high accuracy but are susceptible to strong vibrations and shocks, and are easily affected by moisture condensation and dust. Capacitive encoders have poor environmental adaptability, and their accuracy is easily affected by humidity. Magnetoelectric encoders, specifically eddy current induction encoders, are less affected by humidity and condensation, but their accuracy is lower.

[0036] Inductive measuring devices detect position information by measuring changes in inductance within a magnetic field induction coil array. The advantages of inductive measuring devices are high reliability and accuracy. However, current inductive measuring devices are still relatively large and not compact enough. In compact applications, such as robotic arms and monitoring spheres, where high precision and reliability are required, sufficient space is needed for installation. Furthermore, in scenarios requiring cabling and mechanical shafts, the encoder needs a sufficiently large central hole, further increasing its size.

[0037] Furthermore, the principle of inductive measuring devices is based on the periodic change of the signal formed by the electromagnetic induction between the coil pair of the mover and the electron to determine the position. Therefore, when multiple inductive measuring devices are used together, the magnetic field interference between the code tracks of the multiple inductive measuring devices must also be considered. Encoders are divided into incremental and absolute types. Incremental encoders are encoders that measure and accumulate the relative displacement each time, and only a single code track is needed to obtain the incremental displacement. Absolute encoders require multiple code tracks (e.g., 2-3), and the unique absolute position is determined by the combination of the displacement values ​​of multiple code tracks. The more code tracks, the higher the resolution and the more accurate the determined absolute position. Therefore, if n absolute inductive measuring devices are used in a scene, there will be 2n or 3n code tracks, which is a large number, so the interference between them must be considered.

[0038] Therefore, the inductive measuring device provided in this embodiment can be configured with signal frequency / time slots to achieve frequency-division or time-division operation, effectively reducing signal interference between code channels. When used in groups, the code channels of each inductive measuring device can be used in a time-division and / or frequency-division manner as needed, effectively reducing signal interference between code channels. Alternatively, the inductive measuring device can also adopt a compact structural layout to solve the problem of large size.

[0039] It should be noted that the "coil" mentioned in this article can be a whole wire, a metal form, or a component containing multiple separate sub-coils, and its specific implementation is not limited.

[0040] like Figure 1 The diagram shown illustrates the structure of the inductive measuring device in an embodiment of this disclosure.

[0041] exist Figure 1 The structure of an inductive measuring device 100 is exemplarily shown in the example. It should be noted that... Figure 1 The structure of the inductive measuring device 100 in the example is merely illustrative and is not intended to be limiting.

[0042] The inductive measuring device 100 includes a stator 110 and a plurality of movers. Each mover cooperates with the stator 110 to form an inductive encoder. Two movers are shown in the figure as an example, namely the first mover 120 and the second mover 130, which can form two inductive encoders with the stator 110, namely the first inductive encoder and the second inductive encoder.

[0043] Here's a simple explanation of the principle of an inductive encoder. The stator is fixedly mounted on 110, and the mover (such as the first mover 120 and the second mover 130) is mounted on the object being measured to move with it, including translation and rotation. When the measurement target is an angle, the mover is implemented as a "rotor" that can rotate coaxially with the object being measured. Since the inductive measuring device 100 determines the displacement of the object being measured based on the inductive signal formed by the electromagnetic induction between paired coils on the mover and stator 110, the extension direction of the coil is consistent with the displacement direction of the object being measured. For example, when the object is rotating, the extension direction of the coil is circumferential; when the object is translating, the extension direction of the coil is the translation direction. The shapes of the mover and stator 110 correspond to the shape of the coil, which is also determined by the movement mode of the object being measured. For example, when the measurement target is an angle, the mover and stator 110 can be implemented as a ring as in this embodiment, or they can be sector-shaped if the rotation is only at a certain angle rather than 360°. Alternatively, in other embodiments, where the target for measurement is linear displacement, the mover and stator 110 may be implemented as linear.

[0044] In this embodiment, the stator 110 and multiple movers (such as the first mover 120 and the second mover 130) are coaxially stacked and can rotate relative to each other. The stator 110 and the movers can be annular structures. The multiple movers are arranged concentrically. Thus, a compact structure of an inductive measuring device integrating multiple inductive encoders can be realized, reducing the size of the device.

[0045] Can participate together Figure 2 The diagram shown illustrates the structure of the stator 110 in this embodiment of the present disclosure.

[0046] The stator 110 forms multiple partitions. Figure 2In this embodiment, the plurality of partitions includes a first partition, a second partition, and a third partition. The first partition is used to arrange the magnetic field induction coils of at least one code track of the first encoder, the second partition is used to arrange the magnetic field induction coils of at least one code track of the second encoder, and the third partition is used to arrange the encoder circuits of the first and second encoders. Exemplarily, in this embodiment, the stator 110 is implemented as a ring, and the plurality of partitions can be implemented as a ring-shaped region arranged concentrically in the radial direction, including a ring-shaped first sensing region 111, a second sensing region 112, and a circuit setting region 113. The first sensing region 111 serves as the first partition, the second sensing region 112 serves as the second partition, and the circuit setting region 113 serves as the third partition. It is understood that in other embodiments, if the encoder measures displacement other than angle, the shapes of the stator 110 and the mover may change accordingly, and the arrangement of the first, second, and third partitions may also change accordingly, and is not limited to the illustration.

[0047] The first sensing area 111 is used to arrange the magnetic field induction coil 140 of at least one code track of the first encoder. Figure 2 In the example, the first encoder is an absolute encoder, exemplarily having two code tracks, corresponding to two magnetic field induction coils 140, which can be arranged radially at intervals. The second encoder is also an absolute encoder, exemplarily having two code tracks, and also correspondingly having two magnetic field induction coils 140. Of course, in some embodiments, the first encoder / second encoder is an incremental encoder, and the number of magnetic field induction coils 140 corresponding to a code track can be reduced to one. Alternatively, in some embodiments, if the first encoder / second encoder is an absolute encoder with higher accuracy requirements, the number of magnetic field induction coils 140 corresponding to a code track can be increased to three.

[0048] Each of the magnetic field induction coils 140 is presented as a pattern formed by a metal conductor wound circumferentially along the induction region. Exemplarily, in Figure 2 In the example, the pattern of the magnetic field induction coil 140 can be formed based on a metal conductor wound along lines of a sine / cosine envelope shape. Furthermore, through-holes are provided at each intersection to guide the coil portion at the intersection into the stator 110 for routing and then back to the front to continue routing, thus avoiding conductive connections at the intersections and presenting a more natural appearance. Figure 2 The visible pattern shown.

[0049] You can refer to this. Figure 3 The diagram shown illustrates the complete pattern of a figure-eight shaped magnetic field induction coil according to one embodiment of this disclosure. In fact, Figure 2 The pattern of the magnetic field induction coil 140 can be at least partially adopted Figure 3The horizontal figure-eight pattern in the middle. Figure 3 The wiring of the magnetic field induction coil 140 within the stator 110 is shown by dashed lines, and the magnetic field induction coil 140 appears as a horizontal figure-eight extended pattern.

[0050] Back Figure 2 The plurality of partitions further include a circuit setting area 113 surrounding the plurality of sensing areas, the circuit setting area 113 also being an annular area. The encoder circuit 150 is arranged circumferentially along the circuit setting area 113. The encoder circuit 150 includes signal processing circuits for the first encoder and the second encoder connected to their respective magnetic field sensing circuits, and connectors for external communication connected to the signal processing circuits. A first connector 151 for the first encoder and a second connector 152 for the second encoder are exemplarily shown.

[0051] In some embodiments, the first connector 151 and the second connector 152 can be connected by a cable to form a single connector, or the pins of the first connector 151 and the second connector 152 can be packaged in the same housing to form a single connector, facilitating external communication connections. For example, the first connector 151 and the second connector 152 can be packaged as an inter-board connector for output, allowing direct mating with other circuit board components such as driver boards.

[0052] The first mover 120 and the second mover 130 each have a code disk. Each code disk can carry a magnetic field generating coil (not shown) corresponding to the magnetic field induction coil 140 of each code track of the encoder to which it belongs. For example, if the first encoder has two code tracks of magnetic field induction coils 140 in the stator 110, then the first mover 120 of the first encoder also includes two magnetic field generating coils corresponding to the two magnetic field induction coils 140. If the second encoder has two code tracks of magnetic field induction coils 140 in the stator 110, then the second mover 130 of the second encoder also includes two magnetic field generating coils corresponding to the two magnetic field induction coils 140. Preferably, each code disk is aligned with its corresponding sensing area, and the magnetic field induction coil 140 of the code track is aligned with its corresponding magnetic field generating coil. The term "aligned" refers to the overlapping projections of the two on the same radial plane.

[0053] Exemplarily, the magnetic field induction coil 140 has a periodic horizontal figure-eight pattern, and the magnetic field generating coil can be exemplarily a periodic square pattern. The sensitive units in each period of the patterns of the magnetic field induction coil 140 and the magnetic field generating coil can be sized to match each other, and their relative positions change with the rotation of the mover relative to the stator 110, forming a periodically changing induction signal. In some embodiments, the square pattern can be implemented as described in, for example, the square pattern in Chinese Patent Publication CN120521477A, ​​or other documents with separated square patterns. Furthermore, in other embodiments, the patterns of the magnetic field induction coil 140 and the magnetic field generating coil can also be changed, for example, one can change from a horizontal figure-eight shape to a square, and the other from a square to a horizontal figure-eight shape.

[0054] Preferably, the first mover 120, the second mover 130, and the stator 110 can all be hollow structures of annular thin sheets. Their hollow holes facilitate the passage of components such as shafts and cables, resulting in a compact structure that is easy to install.

[0055] See Figure 1 For example, the stator 110 may be provided with a mounting portion 114 for external fixation. The mounting portion 114 may be fixed to the outside by means of screwing or snap-fitting. As an example, the mounting portion 114 may be a mounting hole or the like. The mounting hole may be located in the portion of the stator 110 near the edge, such as in the circuit setting area 113. The mounting hole allows for the insertion of a screw (such as a bolt or screw) to be screwed to the outside in a threaded engagement. Of course, it may also be fixed to the outside by means of adhesive snap-fitting, welding, or other methods.

[0056] The mover is fixed to the movable object being measured. The mover can be externally fixed by methods such as adhesive bonding, screwing, snap-fitting, or welding. Optionally, Figure 1 In this embodiment, the outward surfaces of the first mover 120 and the second mover 130 can be adhesive surfaces for bonding and fixing to the outside. In this embodiment, the first mover 120 and the second mover 130 are rotors and are annular, with a hollow section for inserting cables, shafts, etc. For relative positioning to allow rotation, exemplarily, the edge of the first mover 120 is provided with a positioning structure for external positioning connection. This positioning structure can be a structure that mates with the object being measured, such as multiple radially protruding first protrusions 121 arranged along the inner periphery of the hollow hole (there can be three or more evenly distributed protrusions; in other embodiments, it can also be a recess). The edge of the second mover 130 can also be provided with a positioning structure for external positioning connection, such as radially protruding second protrusions 131 arranged along the outer periphery of the second mover 130 (there can be three or more evenly distributed protrusions; in other embodiments, it can also be a recess), for external positioning connection to the object being measured to allow rotation.

[0057] To reduce signal interference between code channels, frequency division and / or time division can be considered for each code channel.

[0058] In some examples, the frequency of the induction signal for each code track can be different. The frequency of the induction signal can be adjusted by the structure of the periodic pattern of the magnetic field induction coil 140 corresponding to the code track, and the pattern of the magnetic field generating coil will change accordingly. The frequency of the induction signal is related to the density of the periodic pattern distribution of the magnetic field induction coil 140, and also to the frequency of the excitation signal. Regarding the density of the periodic pattern distribution, the greater the number of periodic sensitive units in the circular pattern of the magnetic field induction coil 140, the denser the distribution of the magnetic field induction coil 140. The fewer the number of periodic sensitive units in the circular pattern of the magnetic field induction coil 140, the sparser the distribution of the magnetic field induction coil 140. This can be compared... Figure 3 and Figure 4 As can be seen from the pattern of the magnetic field induction coil 140, Figure 3 The density of the magnetic field induction coils 140 in the middle is higher than that in the middle. Figure 4 The magnetic field induction coil 140 in the middle, then Figure 3 The frequency of the induced signal generated by the magnetic field induction coil 140 with the pattern can be higher than that of the magnetic field induction coil 140. Figure 4 The frequency of the induced signal generated by the magnetic field induction coil 140 in the pattern. Therefore, relatively speaking, Figure 3 The code track corresponding to the middle coil pattern has a higher frequency and can be called a "fast code track" or "precise code track". Figure 4 The code track corresponding to the middle coil pattern has a slower frequency and can be called a "slow code track" or "coarse code track". Of course, in addition to changing the coil pattern, the frequency of the current signal in the magnetic field generating coil corresponding to different code tracks can also be made different, so that the magnetic fields they produce are different, and the signal frequencies of the inductive signals of different code tracks are also different.

[0059] In some embodiments, the frequency division can be achieved by setting the signal frequencies of multiple code channels to be staggered by multiples of each other. For example, the signal frequencies of two code channels of the first encoder are staggered by multiples of each other, the signal frequencies of two code channels of the second encoder are staggered by multiples of each other, or the signal frequencies of all four code channels of the first encoder and the second encoder are staggered by multiples of each other.

[0060] In some examples, each code channel can also operate in a time-sharing manner. For instance, the magnetic field induction coils 140 of different code channels can read the induction signal and calculate position data at staggered times. This avoids mutual interference even if the code channels have the same frequency. Optionally, in frequency-division and time-division operation, the allocated working time of multiple code channels can be related to the movement speed of their movers, which in this embodiment is the rotation speed of the two movers 120. For example, if the two movers 120 rotate at the same speed, they can be allocated the same working time when operating in a time-division manner. Alternatively, if the two movers 120 rotate at different speeds, the allocated working time of the mover 120 is positively correlated with its rotation speed. The faster the rotation speed of the mover 120, the longer the allocated working time; the slower the rotation speed, the shorter the allocated working time.

[0061] The above explains the principles of frequency division and time division. The following can be used as a reference. Figure 5 and Figure 6 This illustrates the application of frequency division and time division between code tracks in at least one encoder.

[0062] In a preferred embodiment, the code tracks of each encoder operate at the same frequency, while the code tracks of different encoders operate in a time-division multiplexing manner. For example, in Figure 5 In the encoder, encoder A has code tracks A-1 and A-2, and encoder B has code tracks B-1 and B-2. Code tracks A-1 and A-2 can operate at the same frequency (either time-division multiplexing or not). Code tracks A-1, A-2, B-1, and B-2 can all operate at the same frequency (either time-division multiplexing or not), meaning the induced signals in their respective magnetic field induction coils 140 will be at the same frequency. However, code tracks A-1 and A-2 operate at the same frequency but in a time-division multiplexing manner with code tracks B-1 and B-2. That is, position data is calculated for code tracks A-1 and A-2 based on the induced signals in one time slot, and position data is calculated for code tracks B-1 and B-2 in another time slot.

[0063] In another embodiment, each encoder track can operate with equal time and frequency division. For example, in Figure 6 In the encoder, encoder A has code track A-1 and code track A-2, and encoder B has code track B-1 and code track B-2. Code tracks A-1, A-2, B-1 and B-2 operate in a time-division and frequency-division manner, that is, the induced signals in the magnetic field induction coils 140 of code tracks A-1, A-2, B-1 and B-2 have different frequencies and are staggered in time slots.

[0064] Optionally, code channels A-1, A-2, B-1, and B-2 can be allocated different working durations based on the different frequencies of their respective sensed signals. For example, if the frequency of code channel A-1 > the frequency of code channel A-2 > the frequency of code channel B-1 > the frequency of code channel B-2, then the allocated duration of code channel A-1 > the allocated duration of code channel A-2 > the allocated duration of code channel B-1 > the allocated duration of code channel B-2, and so on.

[0065] The stator 110 may further include at least one power transmitting coil (not shown). As an example, one power transmitting coil may be configured for each code track. The mover includes at least one power receiving coil (not shown) electromagnetically aligned (e.g., overlapping axially) with the power transmitting coil, capable of harvesting energy from the at least one power receiving coil. As an example, there may be a one-to-one correspondence between the at least one power receiving coil and the at least one power transmitting coil, the number determined by the number of code tracks. As an example, the power transmitting coil may be axially stacked with the magnetic field induction coil 140 to save radial layout space. On the mover, the power receiving coil may be coupled to the magnetic field generating coil to transfer the electrical energy harvested from the power transmitting coil to the magnetic field generating coil, so that the magnetic field generating coil forms a magnetic field acting on the magnetic field induction coil 140. In some embodiments, the power receiving coil may be disposed independently of and electrically connected to the magnetic field generating coil, or axially stacked with the magnetic field generating coil, or may be part of the pattern of the magnetic field generating coil.

[0066] Preferably, each code channel can be independently configured with a set of power transmitting coil, power receiving coil, magnetic field generating coil and magnetic field induction coil 140.

[0067] When the power transmitting coil is powered, it transmits a regularly changing electrical signal, thereby generating a regularly changing magnetic field. The power receiving coil is positioned correspondingly to the power transmitting coil, and electromagnetic induction facilitates the transfer of electrical energy between them, creating an induced electromotive force in the power receiving coil. An electrical transfer coupling is formed between the power receiving coil and the magnetic field generating coil. The power receiving coil powers at least one magnetic field generating coil, causing a regularly changing excitation signal to flow across the magnetic field generating coil, thus creating a regularly changing magnetic field. As the magnetic field generating coil moves with the actuator, its relative position to the magnetic field induction coil 140 changes, causing a corresponding change in the magnetic flux of the magnetic field induction coil 140 within the magnetic field of the generating coil. This reflects a regular change in the amplitude of the induced signal in the magnetic field induction coil 140. Therefore, after the induced signal is picked up and conditioned by the magnetic induction circuit, it is sent to the signal processing circuit to analyze the signal changes and determine the position of the object being measured.

[0068] Therefore, the magnetic field induction coil 140 of the mover can be powered by the stator 110, and the mover does not need to be equipped with a separate power supply. It can receive the energy of the stator 110 in real time and apply it to the coil to form a regular electromagnetic field.

[0069] like Figure 7 The diagram shown illustrates a schematic of the circuit board layer structure in one embodiment of this disclosure.

[0070] The stator and mover in the previous embodiments can both be adopted. Figure 7 The circuit board layer structure in the middle.

[0071] exist Figure 7 The circuit board layer structure includes: a plurality of circuit layers 1101 arranged axially, a via array 1102, and a shielding layer 1103. As an example, the via array 1102 includes a plurality of vias arranged side-by-side. Axially, the via array 1102 can be presented as a mesh structure on an axial vertical plane. The via array is used to shield the surrounding magnetic field induction coil 140 from radially outward electromagnetic interference, such as electromagnetic interference shielding between two encoders, or electromagnetic interference shielding between an outer encoder and its outer encoder circuit 150.

[0072] In this diagram, vias used for interlayer electrical connections between circuit layers 1101 are not shown.

[0073] The stator and / or at least partially house the magnetic field induction coil or magnetic field generating coil 140 in the plurality of circuit layers 1101, allowing the magnetic field induction coil 140 or magnetic field generating coil to have loop-like traces. Exemplarily, the plurality of circuit layers 1101 can also be used to carry power transmitting coils or power receiving coils. The shielding layer 1103 is disposed on the end face away from the magnetic field induction coil 140. Optionally, the shielding layer 1103 is, for example, a mesh structure, and the shielding layer 1103 may be made of metal.

[0074] In some embodiments, the via array 140 may be arranged in Figure 2 In this embodiment, the annular region 160 surrounds each of the magnetic field induction coils 140 to shield against external electromagnetic interference. In other embodiments, the annular region 160 may also be used to arrange the power transmitting coils.

[0075] It is worth mentioning that, Figure 7 The structure shown is only for illustrative purposes and does not imply that it needs to be consistent with the actual circuit connections.

[0076] In some embodiments, the two movers 120 can be directly bonded to the object under test. The stator 110 can also be bonded to the object under test. Adhesive bonding can provide insulation and heat insulation.

[0077] In some other embodiments, the stator 110 can be welded to the outside to form a fixed connection, and can also realize the electrical connection between the encoder circuit 150 and the outside. For example, if the threaded hole in part of the structure of the object under test, such as the base 200 in the figure, is changed to a welding hole, then the welding pin of the stator 110 is welded to the welding hole and can be electrically connected and relatively positioned together with other circuit board components (such as driver board).

[0078] It should be noted that although the number of movers shown in the illustrations of this disclosure is two, it can be varied in other embodiments, such as three, and is not limited to the illustrations.

[0079] In summary, this disclosure relates to the field of measurement technology and provides an inductive measuring device. The inductive measuring device includes: a stator forming multiple partitions, a first partition for arranging magnetic field induction coils of at least one code track of a first encoder, a second partition for arranging magnetic field induction coils of at least one code track of a second encoder, and a third partition for encoder circuitry; at least two movers, each arranging a magnetic field generating coil of a code track of the first encoder and a magnetic field generating coil of a code track of the second encoder; wherein the multiple movers are arranged to electromagnetically align the magnetic field generating coils and magnetic field induction coils of the same encoder corresponding to the same code track; wherein the frequency and / or time slot of the induction signal of the code track are configured to allow frequency division and / or time division operation between code tracks. Therefore, this device can integrate multiple encoders to improve integration and enables frequency division and / or time division operation of code tracks to avoid interference, thus meeting the "compact" requirements of multiple inductive position acquisition devices, effectively saving space and further reducing size.

[0080] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the protection scope of this disclosure.

Claims

1. An inductive measuring device, characterized in that, include: The stator is divided into multiple sections, namely a first section for arranging the magnetic field induction coil of at least one code track of the first encoder, a second section for arranging the magnetic field induction coil of at least one code track of the second encoder, and a third section for encoder circuitry. At least two movers are respectively arranged with magnetic field generating coils for the code track of the first encoder and magnetic field generating coils for the code track of the second encoder; wherein the plurality of movers are arranged such that the magnetic field generating coils and magnetic field induction coils of the same encoder corresponding to the same code track are electromagnetically aligned. The induction signal frequency and / or time slot of each code channel are configured to operate in a frequency-division and / or time-division manner between code channels; the induction signal frequency is related to the density of the periodic pattern of the magnetic field induction coil.

2. The inductive measuring device according to claim 1, characterized in that, The code tracks of each encoder operate at the same frequency, while the code tracks of different encoders operate in a time-division manner; or, the code tracks of each encoder operate in a time-division and frequency-division manner.

3. The inductive measuring device according to claim 1, characterized in that, In time-sharing operation, the working time allocated to multiple tracks is positively correlated with the movement speed of their movers.

4. The inductive measuring device according to claim 1, characterized in that, The frequency division is implemented by setting the signal frequencies to a staggered multiplication factor relationship.

5. The inductive measuring device according to claim 1, characterized in that, The stator has a ring structure and includes: multiple sensing regions arranged in a concentric ring as the first partition and the second partition; each sensing region is provided with a magnetic field induction coil for an encoder track.

6. The inductive measuring device according to claim 5, characterized in that, The third partition is implemented as a circuit setting area surrounding the multiple sensing areas, and the encoder circuit is arranged circumferentially along the circuit setting area; the encoder circuit includes signal processing circuits of the first encoder and the second encoder connected to their respective magnetic field sensing circuits, and connectors connected to the signal processing circuits for external communication.

7. The inductive measuring device according to claim 6, characterized in that, The circuit setting area is also provided with a mounting part for fixing the stator to the outside.

8. The inductive measuring device according to claim 5, characterized in that, Each of the moving elements includes: an annular code disk carrying a magnetic field generating coil for the code track of the encoder; the code disk is aligned with a sensing area.

9. The inductive measuring device according to claim 5, characterized in that, The stator and / or mover are implemented as a preset circuit board layer structure, the circuit board layer structure including: a plurality of circuit layers arranged along the axial direction, a via array and a shielding layer; the stator and / or at least part of the plurality of circuit layers are arranged with the magnetic field induction coil or magnetic field generating coil; the via array forms an electrical connection between designated circuit layers; the shielding layer is disposed on the end face away from the magnetic field induction coil.

10. The inductive measuring device according to claim 1, characterized in that, The stator and / or mover are provided with adhesive surfaces for bonding and fixing to the outside; and / or, the edge of the mover is provided with a positioning structure for positioning connection to the outside; and / or, the stator is welded to the outside to form a fixed connection and an electrical connection between the encoder circuit and the outside.

11. The inductive measuring device according to claim 1, characterized in that, The stator further includes: at least one power transmitting coil; The mover includes: at least one power receiving coil, which is electromagnetically aligned with the power transmitting coil to obtain energy, and coupled to each of the magnetic field generating coils to transmit the energy that generates the magnetic field.

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