An encoder

Abstract

The application discloses an encoder, comprising a first rotor module, a second rotor module, a stator module and a signal processing module; the first rotor module comprises a first magnetic ring, and the second rotor module comprises a second magnetic ring; the first rotor module, the second rotor module and the stator module are integrally arranged; the signal processing module is arranged on one side of the stator module, and the signal processing module is used for detecting the magnetic field change of the first magnetic ring and the second magnetic ring.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and more particularly to an encoder. Background Technology

[0002] Existing encoders suffer from the following drawbacks: Traditional magnetic encoders are susceptible to interference from external magnetic fields, and the limited resolution of the magnetic sensors themselves hinders further improvements in position measurement accuracy, failing to meet the demands of high-end precision equipment. Changes in environmental factors such as temperature and humidity alter the magnet's magnetism, causing fluctuations in the performance of the magnetic sensors and resulting in unstable encoder output signals that affect the normal operation of the equipment. Furthermore, the relatively independent components of existing magnetic encoders lead to a large size, making them unsuitable for use in space-constrained environments, and their signal transmission is easily affected by interference. Summary of the Invention

[0003] The present invention provides an encoder to address at least one defect in the prior art.

[0004] This invention provides an encoder, comprising:

[0005] The system comprises a first rotor module, a second rotor module, a stator module, and a signal processing module; the first rotor module includes a first magnetic ring, the second rotor module includes a second magnetic ring, and the first rotor module, the second rotor module, and the stator module are integrated together.

[0006] The signal processing module is located on one side of the stator module, and the signal processing module is used to detect the magnetic field changes of the first magnetic ring and the second magnetic ring.

[0007] Optionally, the first magnetic ring and the second magnetic ring have different diameters.

[0008] Optionally, the diameters of the first rotor module and the second rotor module are smaller than the diameter of the stator module.

[0009] Optionally, the pole pitch of the first magnetic ring is different, and the pole pitch of the second magnetic ring is different.

[0010] Optionally, the first magnetic ring and the second magnetic ring are sampled assembled magnetic rings;

[0011] The first magnetic ring contains several magnetic blocks with different pole pitches, and the second magnetic ring contains several magnetic blocks with different pole pitches.

[0012] Optionally, the signal processing module includes several magnetic sensors, signal amplification circuits, digital-to-analog conversion circuits, and control chips;

[0013] The magnetic sensor is connected to the control chip through the signal amplification circuit and the digital-to-analog conversion circuit;

[0014] The control chip is configured to determine, based on the measurement signal from the magnetic sensor, a first absolute position information corresponding to the first rotor module and a second absolute position information corresponding to the second rotor module.

[0015] Optionally, the magnetic sensor, signal amplification circuit, digital-to-analog conversion circuit, and control chip are integrated on a PCBA board.

[0016] Optionally, the first rotor module further includes a first bracket, and the first magnetic ring is disposed within the first bracket.

[0017] Optionally, the second rotor module further includes a second bracket, and the second magnetic ring is disposed within the second bracket.

[0018] Optionally, the first rotor module and the second rotor module are stacked.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention proposes an encoder that achieves a dual code disk design through the dual magnetic ring design of the first rotor module and the second rotor module. Combined with the stator module and the signal processing module, the encoder can accurately sense changes in the magnetic field, significantly improving the resolution and reliability of position detection. Attached Figure Description

[0020] Figure 1 This is a block diagram of the encoder structure in the embodiment;

[0021] Figure 2 This is a schematic diagram of the stator module installation position in the embodiment;

[0022] Figure 3 This is a schematic diagram of the rotor module being installed via threads in the embodiment.

[0023] Figure 4 This is a partially enlarged view of the rotor module mounted by threads in the embodiment;

[0024] Figure 5 This is a schematic diagram of the rotor module being mounted with adhesive in the embodiment;

[0025] Figure 6 This is a partially enlarged view of the rotor module mounted with adhesive in the embodiment. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0027] Figure 1 This is a block diagram of the encoder structure in the embodiment, for reference. Figure 1 The encoder includes: a first rotor module 100, a second rotor module 200, a stator module 300, and a signal processing module 400.

[0028] The first rotor module 100 includes a first magnetic ring, and the second rotor module 200 includes a second magnetic ring; the first rotor module 100, the second rotor module 200 and the stator module 300 are integrated; the signal processing module 400 is disposed on one side of the stator module 300, and the signal processing module 400 is used to detect the magnetic field changes of the first magnetic ring and the second magnetic ring.

[0029] In this solution, the first rotor module and the second rotor module may or may not include a bracket. The bracket can be used to install a magnetic ring. When the bracket is not included, only the magnetic ring constitutes the rotor module.

[0030] In this scheme, the first rotor module 100 has a built-in first magnetic ring, and the second rotor module 200 has a built-in second magnetic ring. The two magnetic rings are arranged coaxially along the encoder shaft axis, and a preset distance is reserved between them. The first rotor module 100 and the second rotor module 200 are synchronously linked with the shaft and rotate synchronously with the shaft under test to realize the real-time output of the rotating magnetic field signal.

[0031] The first rotor module 100 and the second rotor module 200 are coaxially nested inside the stator module 300. The inner wall of the stator module 300 corresponds to the positions of the two magnetic rings, ensuring that there is no jamming or radial offset during the rotation of the rotor module, thus ensuring the accuracy of magnetic field detection.

[0032] The signal processing module 400 is fixedly installed on the side of the stator module 300 away from the input of the rotating shaft. The signal processing module 400 has a built-in magnetic field sensing chip, a signal amplification unit, an analog-to-digital conversion unit and a protocol adaptation processing unit. Its sensing end is directly facing the magnetic field output area of ​​the first magnetic ring and the second magnetic ring to capture the periodic magnetic field change signal generated by the two magnetic rings as they rotate with the shaft.

[0033] This embodiment proposes an encoder, which includes a first rotor module, a second rotor module, a stator module, and a signal processing module. The first rotor module includes a first magnetic ring, and the second rotor module includes a second magnetic ring. It adopts a dual-path magnetic field detection design with the first and second magnetic rings. The two magnetic field signals can achieve cross-verification and complementary calibration, which can not only effectively compensate for the signal error of single magnetic ring detection, but also jointly eliminate signal interference caused by environmental stray magnetic fields and equipment vibration, significantly reducing the error value of speed and position detection. It is especially suitable for high-precision servo control, precision transmission and other scenarios, and the detection stability and accuracy are far superior to traditional single magnetic ring encoders.

[0034] Based on any of the aforementioned solutions, in one possible implementation, the first rotor module may further include a first bracket, with a first magnetic ring disposed within the first bracket. The second rotor module may further include a second bracket, with a second magnetic ring disposed within the second bracket.

[0035] refer to Figure 1 The first rotor module 100 includes a first bracket and a first magnetic ring, with the first magnetic ring disposed within the first bracket. The second rotor module 200 includes a second bracket and a second magnetic ring, with the second magnetic ring disposed within the second bracket.

[0036] The first bracket, the second bracket, and the signal processing module 400 are fixedly connected to the frame.

[0037] The signal processing module 400 is located on one side of the stator module 300. The signal processing module 400 is used to detect the magnetic field changes of the first magnetic ring and the second magnetic ring.

[0038] For example, in this solution, the first rotor module 100 and the second rotor module 200 can be installed on the frame either one or both as needed, and the encoder can include one or two code disks.

[0039] In this design, the interior of the first bracket is annular, and the first magnetic ring can rotate inside the first bracket. Similarly, the interior of the second bracket is annular, and the second magnetic ring can rotate inside the second bracket.

[0040] For example, in this solution, the design of the first magnetic ring and the second magnetic ring is not limited. The first magnetic ring and the second magnetic ring can be designed as an integral magnetic ring. The integral magnetic ring includes magnetic poles and a substrate. The magnetic poles and the substrate are integrated. The magnetic poles are formed directly on the magnet through a magnetization process.

[0041] In an integral magnetic ring, the number of pole pairs is determined according to resolution requirements; for example, a high-precision encoder may use dozens of pole pairs. The pole distribution can be designed with equal or unequal pole spacing (such as sinusoidal distribution or optimized multi-pole combination). The magnetic field waveform can be optimized through electromagnetic field simulation to suppress harmonic interference.

[0042] When magnetizing a magnet, the magnetization direction can be radial. After magnetization, the magnetic poles alternate between N and S poles along the radial direction.

[0043] The first and second magnetic rings can also be designed as assembled magnetic rings, which consist of multiple independent magnetic blocks assembled on a base to form a complete magnetic ring. The shape of the magnetic blocks can be tile-shaped, rectangular, etc. Equal pole spacing or unequal pole spacing can be achieved by adjusting the size of the magnetic blocks or adjusting the spacing between the magnetic blocks.

[0044] In this design, the stator module 300 may include a magnetic conductor, which provides a stable magnetic path for the magnetic field and ensures uniformity of the air gap with any magnetic ring. After the stator module 300 is installed and fixed, it forms a relative motion relationship with the first rotor module 100 and the second rotor module 200. When the corresponding magnetic ring rotates, it cuts the magnetic field on one side of the stator module 300.

[0045] For example, in this solution, the signal processing module 400 includes a magnetic sensing element array, which may include multiple sets of magnetic sensing chips. The magnetic sensing chips are evenly distributed along the circumference of the magnetic ring (e.g., the first magnetic ring corresponds to N magnetic sensing chips, and the second magnetic ring corresponds to M magnetic sensing chips).

[0046] For example, in this solution, when the first magnetic ring and the second magnetic ring rotate with the axis, the magnetic sensing chip senses the fluctuation of the magnetic field strength due to the change in the relative position of the magnetic field. By processing the change of the magnetic field strength into a corresponding electrical signal, the absolute or relative position of the first magnetic ring and the second magnetic ring can be obtained, thereby realizing the encoding and measurement of the angle or position.

[0047] For example, in this solution, the first magnetic ring and the second magnetic ring can be connected to a specified shaft, such as the rotation shaft of a robot joint. The first magnetic ring and the second magnetic ring can be configured to be directly connected to the rotation shaft via a coupling, keyway, or other means.

[0048] Alternatively, the first and second magnetic rings can be connected to the rotating shaft via an intermediate connecting component. For example, any magnetic ring can be connected to a connecting shaft, adapter plate, etc., via a key, spline, or other suitable connection method, and then connected to the rotating shaft.

[0049] In this scheme, the first magnetic ring and the second magnetic ring serve as the code disk of the encoder. The position encoding function is realized by the magnetic pole distribution of the first magnetic ring and the second magnetic ring (such as multiple pole pairs or unequal pole pitch) in conjunction with the magnetic sensitive element (such as Hall element) in the signal processing module 400.

[0050] This embodiment proposes an encoder that achieves a dual-code disk design through a dual-magnetic-ring design in the first and second rotor modules. Combined with the stator module and signal processing module, it accurately senses changes in the magnetic field, significantly improving the resolution and reliability of position detection. The fixed connection between the first bracket, the second bracket, and the stator module and the frame enables precise positioning of multiple components, ensuring the relative position stability of the magnetic ring and the detection element, and suppressing the effects of mechanical vibration and temperature drift. The compact integrated structure enables dual-rotor collaborative operation within a limited space, supports modular maintenance and functional upgrades, and combines the advantages of high precision, high adaptability, and low cost.

[0051] Based on any of the aforementioned schemes, in one possible implementation scheme, the diameters of the first magnetic ring and the second magnetic ring are different.

[0052] In this scheme, the first magnetic ring and the second magnetic ring are designed with different diameters. Based on the difference in the circumference of the magnetic rings, the coding accuracy and detection range can be optimized in a coordinated manner.

[0053] For example, in this solution, the first magnetic ring and the second magnetic ring can be arranged in a coaxial nested manner. For instance, the diameter of the first magnetic ring can be set to be smaller, and the first magnetic ring can be set inside the second magnetic ring. The first magnetic ring is fixed to the rotating shaft through the first bracket (such as keyway connection) and rotates directly with the rotating shaft.

[0054] The second magnetic ring has a larger diameter and is fitted onto the outside of the first magnetic ring (first bracket) via a second bracket. The second magnetic ring is coaxial with the first magnetic ring and can be fixedly connected to the rotating shaft. The way the second magnetic ring and the first magnetic ring are fixed to the rotating shaft is independent of the way they are fixed.

[0055] In this scheme, the difference in diameter causes the magnetic field periods of the two magnetic rings to differ, which can suppress co-frequency interference (such as single-frequency noise caused by mechanical vibration). If the signal of one magnetic ring is interfered with, it can be corrected by the signal of the other magnetic ring, thereby reducing the impact of external interference on the signal and enhancing signal stability.

[0056] Based on the aforementioned scheme where the diameters of the first and second magnetic rings are different, in one possible implementation, the diameters of the first rotor module and the second rotor module are smaller than the diameter of the stator module.

[0057] In this design, the first rotor module and the second rotor module are designed to have the same shape but different diameters.

[0058] For example, in this solution, the first rotor module and the second rotor module are coaxially arranged and cooperate with the stator module with the same axial positioning surface. The axial distance between the first magnetic ring and the second magnetic ring and the magnetic sensitive element on the side of the stator module 300 can be the same or different.

[0059] In this solution, the first rotor module and the second rotor module are set to be coaxially nested, and dual magnetic rings are integrated in a limited radial space. The encoder is small in size and suitable for miniaturized scenarios.

[0060] Based on any of the aforementioned schemes, in one possible implementation scheme, the pole pitch of the first magnetic ring is different, and the pole pitch of the second magnetic ring is different.

[0061] In this scheme, both the first and second magnetic rings adopt an unequal pole pitch design. Through differentiated magnetic field modulation methods, the orthogonality or redundancy of the encoded information can be achieved, thereby improving the encoder's anti-interference capability.

[0062] In this scheme, each position of the unequal pole pitch magnetic ring has a unique magnetic field characteristic. After the encoder is powered on, it can directly output the absolute position without having to find the zero reference point like an incremental encoder.

[0063] For example, in this scheme, the first magnetic ring and the second magnetic ring can be designed with multiple pole pairs and unequal pole pitch.

[0064] For example, in this solution, a multi-pole pair magnetic ring with unequal pole pitches can be formed using an overall magnetization process. For instance, the shape and position of the pole shoes of the magnetizing coil can be customized according to the target pole pitch sequence (such as 10mm, 15mm, 12mm, 18mm cycles). The pole shoe width = target pole pitch, and the distance between adjacent pole shoes = the difference in target pole pitches (such as a 3mm distance between coils with 15mm and 12mm pole pitches).

[0065] During magnetization, an alternating magnetic field is formed around the circumference of the magnetic ring through pulse current. The number of pole pairs is determined by the number of coil groups (e.g., 8 coil groups correspond to 4 pole pairs).

[0066] Based on the aforementioned schemes where the pole pitch of the first magnetic ring is different and the pole pitch of the second magnetic ring is different, in one possible implementation, the first magnetic ring and the second magnetic ring are sampled and assembled magnetic rings; the first magnetic ring is provided with a plurality of magnetic blocks with different pole pitches, and the second magnetic ring is provided with a plurality of magnetic blocks with different pole pitches.

[0067] In this solution, a segmented assembly process can be used to form magnetic rings with multiple pole pairs and unequal pole pitches. For example, tile magnets of different widths can be manufactured (e.g., width sequences: 10mm, 15mm, 12mm, 18mm). Each magnet is radially magnetized using a specialized fixture (e.g., the inner arc surface is the N pole, and the outer arc surface is the S pole). Positioning grooves are machined on a non-magnetic ring substrate (e.g., groove width = magnet width + 0.05mm gap). Magnets are then pasted according to the design sequence and cured with epoxy resin, ensuring that the polarities of adjacent magnets alternate (NSNS).

[0068] In this solution, the magnetic blocks are independently processed (such as cutting and magnetizing) and then assembled, eliminating the need for complex overall magnetization fixtures, resulting in low encoder production costs.

[0069] Based on any of the aforementioned schemes, in one possible implementation, the signal processing module includes several magnetic sensors, signal amplification circuits, digital-to-analog conversion circuits, and control chips.

[0070] The magnetic sensor is connected to the control chip via a signal amplification circuit and a digital-to-analog converter circuit. The control chip is configured to determine the first absolute position information corresponding to the first rotor module and the second absolute position information corresponding to the second rotor module based on the measurement signal from the magnetic sensor.

[0071] For example, in this solution, the encoder is configured as an absolute encoder, and the signal amplification circuit may include an operational amplifier, which is used to amplify the weak signal (mV level) output by the magnetic sensing element and boost it to the voltage range that the ADC can acquire (e.g., 0~3.3V).

[0072] For example, in this solution, the digital-to-analog converter circuit includes a multi-channel ADC chip, which is used to convert the analog voltage signal output by the signal amplification circuit into digital quantities (such as 12-bit or 16-bit binary data) for subsequent acquisition and processing by the control chip.

[0073] For example, in this solution, the control chip can be a DSP or MCU chip, and the control chip is configured to perform absolute position calculation (for absolute magnetic rings). Specifically, the control chip can be configured to calculate the absolute angle of a specified magnetic ring by looking up a table or algorithm based on the signal combination of multiple magnetic sensors (such as Gray code encoding rules).

[0074] Based on any of the aforementioned solutions, in one possible implementation, the magnetic sensor, signal amplification circuit, digital-to-analog converter circuit, and control chip are integrated on a PCBA board.

[0075] Based on any of the aforementioned solutions, in one possible implementation, the first bracket and the second bracket are fixedly connected to the frame by means of threads or adhesive.

[0076] In this solution, the brackets (first bracket and second bracket) are rigidly connected to the frame by threaded connection or adhesive fixation, ensuring that the magnetic ring maintains accurate axial and radial positioning during rotation, while adapting to different assembly process requirements (such as detachable maintenance or permanent fixation).

[0077] Figure 2 This is a schematic diagram of the stator module installation position in the embodiment; Figure 3 This is a schematic diagram of the rotor module being installed via threads in an embodiment. Figure 4 This is a partially enlarged view of the rotor module mounted by threads in the embodiment, see reference. Figures 2 to 4 Based on any of the aforementioned solutions, in one possible implementation, when the first bracket and the second bracket are fixedly connected to the frame body by threads, the first bracket and the second bracket are stacked in the axial direction.

[0078] For example, in this solution, the outer rotor is the first rotor module, the inner rotor is the second rotor module, and the stator fixing frame is a rigid frame.

[0079] For example, in this solution, the outer periphery of the first bracket and the second bracket is designed with threads, and the corresponding positions of the bracket body are machined with threaded holes or through holes, with the precision matching the threads of the bracket.

[0080] refer to Figure 2For example, in this solution, the stator mounting pitch circle refers to the circumferential positioning reference used to fix the stator grinding in the encoder. It is a specific circular line on the frame, and its function is to ensure the coaxiality and radial clearance uniformity between the stator module and the rotor module, thereby ensuring the stability of the magnetic field distribution and the operating accuracy of the equipment.

[0081] For example, in this solution, the inner rotor is radially positioned using the inner rotor mounting thread, and the outer rotor is radially positioned using the outer rotor mounting thread.

[0082] refer to Figure 3 and Figure 4 For example, in this solution, the inner rotor is axially positioned using surface A (top surface of the inner rotor) or surface B (bottom surface of the inner rotor). Surface A or surface B can restrict the movement of the inner rotor along the axial direction, ensuring that the air gap between the inner rotor and the stator is uniform, and avoiding uneven magnetic field distribution or mechanical wear caused by axial displacement.

[0083] For example, in this solution, the outer rotor is axially positioned using surface C (top surface of the outer rotor) or surface D (bottom surface of the outer rotor). Surface C or surface D ensures that the axial relative position between the outer rotor and the stator and inner rotor is fixed, especially in a dual-rotor structure to avoid axial interference between the inner and outer rotors.

[0084] For example, in this solution, the axial positioning of the outer rotor needs to be matched with the positioning surface of the inner rotor to meet the design requirements for axial installation error.

[0085] For example, in this solution, the stator is axially positioned using the end face of the frame. The stator, as a fixed component, is completely fixed in the axial direction, providing a stable magnetic field reference for the rotor.

[0086] For example, in this solution, the stator module can be fixedly connected to the frame through three through holes (M2 threaded holes) evenly arranged along the circumference, and the stator module can be axially fixed by tightening three evenly distributed M2 screws through the through holes.

[0087] Figure 5 This is a schematic diagram of the rotor module being mounted with adhesive in the embodiment; Figure 6 This is a partially enlarged view of the rotor module mounted with adhesive in the embodiment, for reference. Figure 2 , 5 6. Based on any of the aforementioned solutions, in one possible implementation, when the first bracket and the second bracket are fixedly connected to the frame by adhesive, the first bracket and the second bracket are on the same horizontal plane in the axial direction.

[0088] In this solution, an adhesive dispensing machine is used to evenly apply adhesive along the edge of the bracket flange, pressing the bracket into the mounting position on the frame. A clamp is then used to apply axial pressure to ensure a tight fit. Before curing, the radial position of the bracket is monitored using a laser alignment instrument, and readjustment is performed if the deviation exceeds the error threshold.

[0089] In this solution, a highly reliable permanent connection of the rotor module can be achieved through adhesive bonding, as in aerospace equipment, avoiding the risk of thread loosening. Simultaneously, it allows for miniaturization of the encoder structure, saving radial space occupied by threaded holes.

[0090] For example, in this solution, the inner rotor is radially positioned using its inner ring diameter and outer ring diameter, and the outer rotor is radially positioned using its inner ring diameter and outer ring diameter.

[0091] For example, in this solution, the inner rotor is axially positioned using an end face that is on the same plane as the bottom surface of the stator module, and the outer rotor is axially positioned using an end face that is on the same plane as the bottom surface of the stator module.

[0092] For example, in this solution, the inner rotor and the outer rotor are provided with a radial gap (e.g., 0.2 mm), and the outer rotor and the stator module are provided with a radial gap (e.g., 0.3 mm).

[0093] refer to Figures 1 to 6 Based on any of the aforementioned schemes, in one possible implementation, the encoder includes: a first rotor module 100, a second rotor module 200, a stator module 300, a signal processing module 400, and a frame.

[0094] The first rotor module 100 includes a first bracket and a first magnetic ring, with the first magnetic ring disposed within the first bracket. The second rotor module 200 includes a second bracket and a second magnetic ring, with the second magnetic ring disposed within the second bracket.

[0095] The first bracket, the second bracket, the stator module 300, and the signal processing module 400 are fixedly connected to the frame.

[0096] The signal processing module 400 is located on one side of the stator module and is used to detect the magnetic field changes of the first magnetic ring and the second magnetic ring.

[0097] In this design, the diameters of the first and second brackets are smaller than the diameter of the stator module. The first and second brackets are designed as annular brackets, with the diameter of the first bracket being smaller than the diameter of the second bracket.

[0098] In this design, the first and second magnetic rings are multi-pole pairs with unequal pole pitches, and the encoder is an absolute magnetic encoder.

[0099] In this scheme, the signal processing module 400 is designed to include several magnetic sensors, signal amplification circuits, digital-to-analog conversion circuits, and control chips; the magnetic sensors are connected to the control chip through the signal amplification circuits and digital-to-analog conversion circuits; the control chip is configured to determine the first absolute position information corresponding to the first rotor module and the second absolute position information corresponding to the second rotor module based on the measurement signal of the magnetic sensors.

[0100] In this design, the magnetic sensor, signal amplification circuit, digital-to-analog converter circuit, and control chip are integrated on the PCBA board.

[0101] In this design, the first bracket and the second bracket are fixedly connected to the frame by means of threads or adhesive.

[0102] In this design, the encoder is an absolute magnetic encoder, and the rotor module's magnetic ring employs a unique magnetic pole distribution design, enabling it to generate a high-precision, high-resolution magnetic field. A high-sensitivity magnetic sensor is positioned below the stator module to accurately detect changes in the rotor's magnetic field.

[0103] The magnetic sensor collects the induction signal, which is amplified and converted from analog to digital on the PCBA. The control chip then uses an algorithm to analyze and process the signal, calculates the unique absolute position code, and then parses the real-time position angle, speed, torque and other physical parameters. The data is then output to external devices through the communication interface.

[0104] In this design, the magnetic ring employs a special multi-pole pair and unequal pole pitch design, resulting in more precise changes in the magnetic field per unit rotation angle. The magnetic sensor utilizes a low-noise, high-sensitivity Hall sensor chip, strategically positioned on the stator to minimize mutual interference. A low-power, high-speed computing control chip is integrated into the PCBA, incorporating a built-in absolute position encoding algorithm for fast and accurate signal processing.

[0105] In this solution, the encoder's magnetic poles break away from traditional magnetic pole distribution patterns, employing an optimized combination of multiple pole pairs and unequal pole pitches. This significantly improves magnetic field resolution, enabling the encoder to capture more subtle position changes and laying the foundation for high-precision position detection. The rational layout of the magnetic sensing elements reduces the impact of external interference on the signal, enhancing signal stability. The control chip integrates a highly efficient absolute position encoding algorithm, quickly and accurately converting the sensed signal into a position code, ensuring high precision and rapid response.

[0106] In this solution, the encoder can be used in the scenario of robot rotary joint module motor. The motor has a motor shaft and an output shaft. The motor shaft is a high-speed shaft, which is used for the speed closed-loop control of the basic motor drive function. The output shaft is a high-torque low-speed shaft after being reduced by a reducer. That is, the output shaft is the shaft after the motor shaft is reduced by a harmonic reducer or a planetary gear reducer. After passing through the reducer, the output shaft will have a larger torque than the motor shaft to support the load of the joint module (such as a robotic arm). In motor control, the position accuracy of the output shaft needs to be controlled in a closed loop.

[0107] In this scheme, when the encoder is in use, the first magnetic ring and the second magnetic ring are installed on the motor shaft and the output shaft, respectively. The stator module 300 serves as the reading head for both shafts to read their rotational positions, thereby enabling the measurement of both shafts. Specifically, in this scheme, the first magnetic ring and the second magnetic ring are arranged on the same side along the axial direction and are fixedly connected to the motor shaft and the output shaft, respectively. The first magnetic ring is fixedly sleeved on the end of the motor shaft; the second magnetic ring is fixedly sleeved on the end of the output shaft. The stator module 300 is fixedly installed on the frame, located on the same side of the first rotor module 100 and the second rotor module 200, and maintains a preset radial air gap and axial distance with both rotor modules. The stator module 300 serves as a shared sensing carrier, and its rotor-facing side covers the detection areas of both the first and second magnetic rings, so that the stator module 300 also serves as a shared reading head for both rotor modules, eliminating the need for a separate stator for each shaft.

[0108] This solution achieves synchronous absolute position detection of two different axes on the same side and in the same space without increasing the overall size of the encoder or using two independent encoders. Simultaneously, the encoder can directly output absolute position codes, providing accurate current position upon power-on without the need for cumbersome reference point reset operations, thus improving equipment efficiency. The combination of magnetic induction element layout and magnetic ring design effectively resists electromagnetic interference and mechanical vibration, maintaining stable detection accuracy in complex industrial environments. Compared to traditional multi-track, complex absolute encoders, this invention features a simpler structure, smaller size, easier installation, and reduced manufacturing costs.

[0109] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An encoder, characterized in that, include: The system comprises a first rotor module, a second rotor module, a stator module, and a signal processing module. The first rotor module includes a first magnetic ring, and the second rotor module includes a second magnetic ring; The first rotor module, the second rotor module, and the stator module are integrated into a single unit. The signal processing module is located on one side of the stator module, and the signal processing module is used to detect the magnetic field changes of the first magnetic ring and the second magnetic ring.

2. The encoder as described in claim 1, characterized in that, The first magnetic ring and the second magnetic ring have different diameters.

3. The encoder as described in claim 2, characterized in that, The diameters of the first rotor module and the second rotor module are smaller than the diameter of the stator module.

4. The encoder as described in claim 1, characterized in that, The first magnetic ring has a different pole pitch, and the second magnetic ring has a different pole pitch.

5. The encoder as described in claim 4, characterized in that, The first magnetic ring and the second magnetic ring are sampled assembly magnetic rings; The first magnetic ring contains several magnetic blocks with different pole pitches, and the second magnetic ring contains several magnetic blocks with different pole pitches.

6. The encoder as described in claim 1, characterized in that, The signal processing module includes several magnetic sensors, signal amplification circuits, digital-to-analog conversion circuits, and control chips; The magnetic sensor is connected to the control chip through the signal amplification circuit and the digital-to-analog conversion circuit; The control chip is configured to determine, based on the measurement signal from the magnetic sensor, a first absolute position information corresponding to the first rotor module and a second absolute position information corresponding to the second rotor module.

7. The encoder as described in claim 6, characterized in that, The magnetic sensor, signal amplification circuit, digital-to-analog conversion circuit, and control chip are integrated on the PCBA board.

8. The encoder as claimed in claim 1, characterized in that, The first rotor module also includes a first bracket, and the first magnetic ring is disposed in the first bracket.

9. The encoder as claimed in claim 1, characterized in that, The second rotor module also includes a second bracket, and the second magnetic ring is disposed within the second bracket.

10. The encoder as claimed in claim 1, characterized in that, The first rotor module and the second rotor module are stacked.

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