A servo motor encoder and a servo motor

Abstract

The utility model discloses a kind of servo motor encoder and servo motor. Among them, servo motor encoder includes photoelectric encoding module, light emitting device and code disc;The center point of code disc is fixedly connected with the rotor of servo motor, code disc has multiple sectors, and the light transmission range of each sector is different;Multiple sectors include a magnetic pole sector, the projection of magnetic pole sector along the direction perpendicular to code disc plane covers the position of the magnetic pole of rotor;Photoelectric encoding module is set at the side of code disc, so that when code disc rotates, the projection of each sector along the direction perpendicular to code disc plane covers photoelectric encoding module in turn;Light emitting device is set to the other side of code disc, so that light emitted by light emitting device irradiates code disc;Photoelectric encoding module is used to generate magnetic pole position indication signal based on the irradiation range of light transmitted through sector, and magnetic pole position indication signal is sent to remote host computer.The technical scheme of the utility model can improve the accuracy when detecting the magnetic pole position of servo motor.

Description

Technical Field

[0001] This utility model relates to the field of servo motor technology, and in particular to a servo motor encoder and a servo motor. Background Technology

[0002] A servo motor is a type of motor used in servo systems to control the operation of mechanical components. It converts voltage signals into torque and speed to drive the controlled object. As the application range of servo motors continues to expand, the demand for servo motor encoders is also continuously increasing. Servo motor encoders can be installed on servo motors to measure parameters such as magnetic pole position.

[0003] Currently, existing servo motor encoders primarily determine the magnetic pole position of the servo motor using Hall sensors. Specifically, the Hall sensor is fixed to the stator of the servo motor. When the rotor's permanent magnet passes the Hall sensor, the sensor detects the change in the magnetic field and generates a specific electrical signal. In particular, when the rotor's magnetic pole passes the Hall sensor, the sensor outputs a specific electrical signal to the host computer as a magnetic pole position indication signal. Simultaneously, the host computer pre-stores specific signal parameters corresponding to the signal characteristics output by the Hall sensor when it passes the magnetic pole position. When the host computer receives the magnetic pole position indication signal and determines that its signal parameters match the pre-stored signal parameters, it can determine that the current rotor magnetic pole position corresponds to the position of the Hall sensor, thus determining the specific position of the rotor magnetic pole.

[0004] However, Hall sensors have poor anti-interference capabilities, and their output electrical signals may be deviated due to interference, resulting in low accuracy of existing servo motor encoders in detecting magnetic pole positions. Utility Model Content

[0005] In view of this, the present invention provides a servo motor encoder and a servo motor, the main purpose of which is to solve the technical problem of low detection accuracy of existing servo motor encoders when detecting magnetic pole position.

[0006] To achieve the above objectives, this utility model first provides a servo motor encoder, which is applied to a servo motor. The servo motor encoder includes a photoelectric encoding module, a light-emitting device, and a code disk.

[0007] The center point of the code disk is fixedly connected to the rotor of the servo motor so that the code disk rotates with the rotor. The code disk has multiple sectors arranged in a preset order, and each sector has a different light transmission range.

[0008] The plurality of sectors include magnetic pole sectors, and the projection of the magnetic pole sectors along a direction perpendicular to the plane of the code disk covers the location of the magnetic poles of the rotor;

[0009] The photoelectric encoding module is non-contactly disposed on the first side of the code disk, so that when the code disk rotates, each sector sequentially covers the photoelectric encoding module along the projection direction perpendicular to the plane of the code disk.

[0010] The light-emitting device is disposed on the second side of the code disk so that the light emitted by the light-emitting device illuminates the code disk;

[0011] The photoelectric encoding module is used to generate a magnetic pole position indication signal based on the illumination range of the light transmitted through the sector, and send the magnetic pole position indication signal to a remote host computer.

[0012] In one embodiment of this utility model, each sector has adjacent outer code track arcs and inner code track arcs, and the light transmission range of the light-transmitting area formed by the outer code track arcs and inner code track arcs in different sectors is different; the center of all the outer code track arcs on the code disk is the center point, and the center of all the inner code track arcs on the code disk is the center point; when the sector is located between the photoelectric encoding module and the light-emitting device, the light-transmitting area of ​​the sector covers the photoelectric encoding module along the projection in the direction perpendicular to the plane of the code disk.

[0013] In one embodiment of this utility model, the photoelectric encoding module includes a signal generator, a first light receiver, and a plurality of second light receivers; when the sector is located between the photoelectric encoding module and the light-emitting device, the outer code track arc of the sector projects onto the first light receiver along a direction perpendicular to the code disk plane, and the inner code track arc of the sector projects onto each of the second light receivers along a direction perpendicular to the code disk plane; the first light receiver and the second light receivers are respectively used to send an illumination indication signal to the signal generator when receiving the light; the signal generator is used to generate a magnetic pole position indication signal based on the illumination indication signals sent by the first light receiver and each of the second light receivers.

[0014] In one embodiment of this utility model, the plurality of sectors include a first sector, a second sector, a third sector, a fourth sector, a fifth sector, and a sixth sector; the outer code track arcs of the first sector, the second sector, and the third sector are respectively etched as bright stripes, and the outer code track arcs of the fourth sector, the fifth sector, and the sixth sector are respectively etched as dark stripes; the inner code track arcs of the first sector, the second sector, the third sector, the fourth sector, the fifth sector, and the sixth sector are respectively etched as bright stripes, alternating bright and dark stripes, dark stripes, dark stripes, alternating bright and dark stripes, and bright stripes.

[0015] In one embodiment of this utility model, the alternating light and dark stripes include multiple light-transmitting stripes and multiple light-blocking stripes; the light-transmitting stripes and the light-blocking stripes are arranged alternately to form the alternating light and dark stripes.

[0016] In one embodiment of the present invention, the light-emitting device is used to emit light of a preset wavelength; the first light receiver and the second light receiver are respectively used to send an illumination indication signal to the signal generator when they receive light of the preset wavelength.

[0017] In one embodiment of this utility model, a bandpass filter is provided at the light receiving component of both the first light receiver and the second light receiver, and the center wavelength of the bandpass filter is the preset wavelength.

[0018] In one embodiment of this utility model, the signal generator, the first optical receiver, and a plurality of second optical receivers are disposed on the same circuit board.

[0019] In one embodiment of this utility model, the first light receiver and the second light receiver are respectively photovoltaic cells.

[0020] In addition, to achieve the above objectives, this utility model also proposes a servo motor, which includes the servo motor encoder as described above.

[0021] This utility model provides a servo motor encoder and a servo motor. First, the code disk is fixedly connected to the rotor of the servo motor through its center, thereby achieving synchronous rotation with the rotor. The code disk is divided into multiple sectors, each with a different light transmission range. Among them, a specific sector is designed as a magnetic pole sector, whose projected position in the direction perpendicular to the plane of the code disk coincides with the actual position of the rotor's magnetic pole. Therefore, when the rotor rotates, the position change of the magnetic pole sector can directly reflect the spatial orientation and position of the magnetic pole.

[0022] Then, light-emitting devices such as LEDs are mounted on the second side of the code disk to emit constant light. This light passes through the sectors of the code disk and reaches the photoelectric encoding module located on the first side of the code disk. Because the light transmission range of each sector differs, the illumination range of the light passing through each sector changes dynamically. When a sector rotates to the position of the photoelectric encoding module, the module detects the coverage area of ​​the transmitted light and generates an electrical signal corresponding to the current sector. Therefore, as the code disk rotates, the illumination range of the light illuminating the photoelectric encoding module changes, which in turn causes the electrical signal generated by the photoelectric encoding module as a magnetic pole position indication signal to change accordingly. In particular, when a magnetic pole sector rotates to the detection area of ​​the photoelectric encoding module, light within a specific illumination range triggers the photoelectric encoding module to generate a specific electrical signal, thereby generating a magnetic pole position indication signal with specific parameters.

[0023] Finally, the encoder transmits the magnetic pole position indication signal to the host computer. The host computer compares and analyzes the parameters of the magnetic pole position indication signal to determine whether the sector corresponding to the signal is the sector corresponding to the magnetic pole position, and then determines the magnetic pole position of the servo motor based on the magnetic pole position indication signal. Compared with traditional Hall sensors that rely on magnetic field changes for detection, the technical solution of this application generates the magnetic pole position indication signal through optical signals, which significantly improves the anti-interference capability in the magnetic pole determination process, thereby greatly improving the accuracy of magnetic pole position detection.

[0024] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This diagram illustrates the structure of a servo motor encoder according to an embodiment of the present invention.

[0027] Figure 2 A schematic diagram of the structure of an encoder provided in an embodiment of the present invention is shown;

[0028] Figure 3 A schematic diagram of the structure of an optoelectronic encoding module provided in an embodiment of the present invention is shown. Detailed Implementation

[0029] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0030] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the specific implementation methods, structures, features, and effects according to this utility model application are described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0031] The following is combined with Figures 1 to 3This invention describes a servo motor encoder and a servo motor according to some embodiments of the present invention.

[0032] like Figure 1 As shown, one embodiment of this utility model proposes a servo motor encoder, which is installed at the servo motor, as follows. Figure 1 As shown, the servo motor encoder includes a photoelectric encoding module 100, a light-emitting device (not shown in the figure), and a code disk 200; wherein, the light-emitting device can be a light-emitting diode, an LED bead, etc.

[0033] The code disk 200 has its center point 210 fixedly connected to one end of the rotor of the servo motor (not shown in the figure), so that the code disk 200 rotates with the rotor. The code disk 200 has multiple sectors 220 arranged in a preset order, and each sector 220 has a different light transmission range. Here, a certain number of gratings of different shapes can be uniformly etched in each sector 220 to make the light transmission range of each sector 220 different.

[0034] Furthermore, the plurality of sectors 220 include magnetic pole sectors, the projection of which covers the location of the magnetic pole of the rotor along a direction perpendicular to the plane of the code disk 200; specifically, when installing the code disk 200 onto the rotor, one side of the magnetic pole sector can be aligned with the magnetic pole direction, so that the center point 210 along the direction of that side is the same as the magnetic pole direction.

[0035] Furthermore, the photoelectric encoding module 100 is non-contactly disposed on the first side of the code disk 200, so that when the code disk 200 rotates, each sector 220 sequentially covers the photoelectric encoding module 100 along a projection perpendicular to the plane of the code disk 200; specifically, the photoelectric encoding module 100 can be disposed on the housing of the servo motor near the rotor, and when the code disk 200 rotates, each sector 220 sequentially sweeps over the top of the photoelectric encoding module 100.

[0036] Furthermore, the light-emitting device is disposed on the second side of the code disk 200 so that the light emitted by the light-emitting device illuminates the code disk 200; here, the light-emitting device and the photoelectric encoding module 100 are disposed at a distance from the code disk 200 so that when the light emitted by the light-emitting device passes through the sector 220 of the code disk 200, it can illuminate the photoelectric encoding module 100.

[0037] Furthermore, the photoelectric encoding module 100 generates a magnetic pole position indication signal based on the illumination range of light transmitted through the sector 220, and sends the magnetic pole position indication signal to a remote host computer (not shown in the figure). Here, the photoelectric encoding module 100 may include multiple photodiodes, which can be evenly arranged within the projection area of ​​the sector 220. The larger the illumination range of light transmitted through the sector 220, the more photodiodes outputting electrical signals, and the higher the intensity of the electrical signal output by the photoelectric encoding module 100, thereby generating different magnetic pole position indication signals. Based on this, the host computer can determine whether the rotor's magnetic poles have swept across the photoelectric encoding module 100 based on the magnetic pole position indication signal, thus determining the magnetic pole position.

[0038] The servo motor encoder proposed in this embodiment first has a code disk fixedly connected to the rotor of the servo motor via a center, rotating synchronously with the rotor. The code disk has multiple sectors, each with a different light transmission range. One sector is designed as a magnetic pole sector, whose projected position perpendicular to the code disk plane coincides with the actual position of the rotor's magnetic pole. When the rotor rotates, the position change of the magnetic pole sector directly reflects the spatial orientation of the magnetic pole. Then, light-emitting devices such as LEDs emit constant light from the second side of the code disk. The light passes through the sectors of the code disk and reaches the photoelectric encoding module on the first side. Here, because the light transmission range of each sector is different, the illumination range of the light passing through each sector changes dynamically. When a sector rotates to the position of the photoelectric encoding module, the photoelectric encoding module generates an electrical signal corresponding to the current sector by detecting the coverage range of the transmitted light. Therefore, as the code disk rotates, the illumination range of the light illuminating the photoelectric encoding module also changes, thereby causing a change in the electrical signal generated by the photoelectric encoding module. When the magnetic pole sector rotates into the detection area of ​​the photoelectric encoding module, the light within a specific illumination range triggers the photoelectric encoding module to generate a specific electrical signal, thereby generating a magnetic pole position indication signal. Finally, this magnetic pole position indication signal is transmitted to the host computer, enabling the host computer to determine the magnetic pole position of the servo motor based on the signal. Compared to traditional Hall effect sensors that rely on changes in the magnetic field, the technical solution of this application generates a magnetic pole position indication signal based on an optical signal, improving the anti-interference capability in the magnetic pole determination process and thus significantly enhancing the accuracy of magnetic pole position detection.

[0039] It should be noted that the selection of the photoelectric encoding module, light-emitting device, and code disk, as well as the internal circuit connection method of the servo motor encoder, can be determined according to the actual situation. This embodiment does not impose specific limitations. Furthermore, the connection method of each component can be determined according to the specific selection of the component, and this embodiment also does not impose specific limitations. The circuit function of the servo motor encoder provided in this embodiment is mainly realized through the circuit connection relationship between various circuit modules, and does not depend on the program module in a particular circuit module. In addition, each circuit module in the servo motor encoder can be implemented using analog circuits or digital circuits. Moreover, for circuit modules that can have program modules embedded, their module functions can be implemented using program modules provided by existing technologies.

[0040] In one embodiment, such as Figure 2 As shown, each sector 220 has adjacent outer code track arcs 221 and inner code track arcs 222. The light transmission range of the light-transmitting areas formed by the outer code track arcs 221 and inner code track arcs 222 of different sectors 220 is different. The areas of the outer code track arcs 221 of different sectors 220 are equal, and the areas of the inner code track arcs 222 of different sectors 220 are equal.

[0041] Furthermore, the center of all the outer code track arcs 221 on the code disk 200 is the center point 210, and the center of all the inner code track arcs 222 on the code disk 200 is the center point 210; here, the rotor of the servo motor can have four magnetic poles, with adjacent magnetic poles spaced 90 degrees apart, therefore, Figure 2 The sector 200 within a 90-degree range of the encoder 200 shown can be considered as one UVW cycle, corresponding to an absolute rotation angle of 90 degrees for the motor. Here, the sectors 220 contained in each UVW cycle are the same, and the arrangement order of the sectors 220 within the UVW cycle is the same.

[0042] Furthermore, when a sector 220 is located between the photoelectric encoding module (not shown in the figure) and the light-emitting device (not shown in the figure), the light-transmitting area of ​​the sector 220, projected along a direction perpendicular to the code disk plane, covers the photoelectric encoding module. Specifically, the photoelectric encoding module can be mounted on the housing of the servo motor, specifically in the area covered by the projection of the light-transmitting area along a direction perpendicular to the code disk plane. When the sector 220 rotates between the photoelectric encoding module and the light-emitting device, the light-transmitting area of ​​this sector 220, projected along a direction perpendicular to the code disk plane, covers the photoelectric encoding module.

[0043] Furthermore, when the outer code track arc 221 and inner code track arc 222 of a sector scan across the photoelectric encoder module, the photoelectric encoder module can send a magnetic pole position indication signal corresponding to that sector 220 to the host computer (not shown in the figure), so that the host computer can determine the sector 220 currently scanned by the photoelectric encoder module. Furthermore, because the multiple sectors 220 on the code disk are arranged in a preset order, the order and position of the magnetic pole sectors within the multiple sectors 220 are known. Therefore, when the host computer determines the sector 220 currently scanned by the photoelectric encoder module, it can deduce the position of the magnetic pole sector corresponding to the magnetic pole position based on the positional relationship between the current sector 220 and the magnetic pole sector, thereby determining the position of the servo motor magnetic pole.

[0044] Furthermore, such as Figure 2 As shown, the multiple sectors include sector A, sector B, sector C, sector D, sector E, and sector F. Here, to prevent race conditions in the logic circuit, a design similar to Gray code is adopted, where the sectors within one UVW cycle use a pattern of 1 / 6 bright stripe → 1 / 6 alternating bright and dark stripe → 1 / 6 dark stripe → 1 / 6 dark stripe → 1 / 6 alternating bright and dark stripe → 1 / 6 bright stripe. The combination of inner code track arc 222 and outer code track arc 221 divides one UVW cycle into 2*3 sector intervals, each corresponding to 15 degrees.

[0045] The outer code track arc 221 of the first sector A, the second sector B and the third sector C are respectively etched as bright stripes, and the outer code track arc 221 of the fourth sector D, the fifth sector E and the sixth sector F are respectively etched as dark stripes.

[0046] Furthermore, the inner code track arc 222 of the first sector A is etched with bright stripes, the inner code track arc 222 of the second sector B is etched with alternating bright and dark stripes, the inner code track arc 222 of the third sector C is etched with dark stripes, the inner code track arc 222 of the fourth sector D is etched with dark stripes, the inner code track arc 222 of the fifth sector E is etched with alternating bright and dark stripes, and the inner code track arc 222 of the sixth sector F is etched with bright stripes. Furthermore, the light emitted by the light-emitting device can pass through the bright stripes, but the light emitted by the light-emitting device cannot pass through the dark stripes.

[0047] Furthermore, the alternating light and dark stripes include multiple light-transmitting stripes and multiple light-blocking stripes; the light-transmitting stripes and the light-blocking stripes are arranged alternately to form the alternating light and dark stripes. Here, the light emitted by the light-emitting device can pass through the light-transmitting stripes, while the light emitted by the light-emitting device cannot pass through the light-blocking stripes, and the areas of the light-blocking stripes and the light-transmitting stripes are equal.

[0048] Furthermore, the servo motor encoder can also be equipped with an ABZ photoelectric encoding module, and the code disk can also be equipped with AB and Z code tracks corresponding to the ABZ photoelectric encoding module. Specifically, the AB code track is etched on the innermost side of the code disk and can be used in conjunction with the ABZ photoelectric encoding module to output A and B signals to determine the encoder's rotation direction; the Z code track is etched on the outer side of the AB code track and can be used in conjunction with the ABZ photoelectric encoding module to output a Z signal to determine the encoder's original zero position.

[0049] The embodiments provided in this application can set an outer code track arc and an inner code track arc within a sector. When the code disk rotates, the outer code track arc and the inner code track arc of each sector sweep across the photoelectric encoding module, so that the photoelectric encoding module generates a magnetic pole position indication signal based on the illumination area transmitted through the outer code track arc and the inner code track arc, so that the host computer can receive the magnetic pole position indication signal and determine the position of the servo motor magnetic pole.

[0050] In one embodiment, such as Figure 3 As shown, the photoelectric encoding module 100 includes a signal generator (not shown), a first light receiver 110, and multiple second light receivers 120, all mounted on the same circuit board. Here, the first light receiver 110 and each of the second light receivers 120 can be a photovoltaic cell. Since the photovoltaic cell outputs a current signal, the photoelectric conversion circuit can convert the current signal into a voltage signal using a photoelectric conversion circuit (not shown) corresponding to the photovoltaic cell, mounted on the circuit board. Specifically, the amplifier in the photoelectric conversion circuit can convert the current signal output by the photovoltaic cell into a voltage signal. This voltage signal is an analog quantity, which is then passed through a comparator in the photoelectric conversion circuit to output a digital voltage signal, i.e., a high or low level signal, to the signal generator. The photoelectric conversion circuit can be implemented inside a semiconductor using processes such as photolithography. Furthermore, the straight line between the center point of the photoelectric encoding module 100 and the center point of the light-emitting device can be perpendicular to the plane of the code disk.

[0051] Specifically, when the sector is located between the photoelectric encoding module 100 and the light-emitting device, that is, when a certain sector rotates to the position of the photoelectric encoding module 100, the projection of the outer code track arc of the sector along the direction perpendicular to the code disk plane covers the first light receiver 110, and the projection of the inner code track arc of the sector along the direction perpendicular to the code disk plane covers each of the second light receivers 120, so that the light emitted by the light-emitting device needs to pass through the outer code track arc to illuminate the first light receiver 110, and the light emitted by the light-emitting device needs to pass through the inner code track arc to illuminate the second light receiver 120.

[0052] Furthermore, the first light receiver 110 and the second light receiver 120 are respectively used to send an illumination indication signal to the signal generator when receiving the light; wherein, the illumination indication signal can be a high-level signal; specifically, when the first light receiver 110 is illuminated by the light emitted by the light-emitting device, the first light receiver 110 emits a high-level signal, and when the first light receiver 110 is not illuminated by the light emitted by the light-emitting device, the first light receiver 110 does not emit a signal; similarly, when the second light receiver 120 is illuminated by the light emitted by the light-emitting device, the second light receiver 120 emits a high-level signal, and when the second light receiver 120 is not illuminated by the light emitted by the light-emitting device, the second light receiver 120 does not emit a signal.

[0053] Furthermore, the signal generator is used to generate a magnetic pole position indication signal based on the illumination indication signal transmitted by the first optical receiver 110 and each of the second optical receivers 120. Here, the number of second optical receivers 120 can be three.

[0054] As an example, such as Figure 2 As shown, when the first sector A is located between the photoelectric encoding module and the light-emitting device, the first light receiver and each second light receiver are illuminated by the light emitted by the light-emitting device. The first light receiver and each second light receiver send a high-level signal to the signal generator. At this time, the signal generator generates a magnetic pole position indication signal of "1, 0, 1" based on a preset logic algorithm.

[0055] Furthermore, when the second sector B is located between the photoelectric encoding module and the light-emitting device, the first light receiver can be illuminated by the light emitted by the light-emitting device. However, because the inner code track arc of the second sector B consists of alternating bright and dark stripes, some second light receivers cannot be illuminated by the light emitted by the light-emitting device. At this time, the first light receiver sends a high-level signal to the signal generator, while not all of the multiple second light receivers send a high-level signal to the signal generator. The signal generator then generates a "1, 0, 0" magnetic pole position indication signal based on a preset logic algorithm.

[0056] Furthermore, when the third sector C is located between the photoelectric encoding module and the light-emitting device, the first light receiver is illuminated by the light emitted by the light-emitting device, while each of the second light receivers is not illuminated by the light emitted by the light-emitting device. The first light receiver sends a high-level signal to the signal generator, while each of the second light receivers does not send a high-level signal to the signal generator. At this time, the signal generator generates a magnetic pole position indication signal of "1, 1, 0" based on a preset logic algorithm.

[0057] Furthermore, when the fourth sector D is located between the photoelectric encoding module and the light-emitting device, neither the first light receiver nor each of the second light receivers will be illuminated by the light emitted by the light-emitting device, and neither the first light receiver nor each of the second light receivers will send a high-level signal to the signal generator. At this time, the signal generator generates a magnetic pole position indication signal of "0, 1, 0" based on a preset logic algorithm.

[0058] Furthermore, when sector E is located between the photoelectric encoding module and the light-emitting device, the first optical receiver cannot be illuminated by the light emitted by the light-emitting device. Because the inner code track arc of sector B consists of alternating bright and dark stripes, some second optical receivers will not be illuminated by the light emitted by the light-emitting device, while others will be illuminated. At this time, the first optical receiver does not send a signal to the signal generator, and among the multiple second optical receivers, there are those that do not send a high-level signal to the signal generator. In this case, the signal generator generates a "0, 1, 1" magnetic pole position indication signal based on a preset logic algorithm.

[0059] Furthermore, when the sixth sector D is located between the photoelectric encoding module and the light-emitting device, the first light receiver will not be illuminated by the light emitted by the light-emitting device, while each second light receiver will be illuminated by the light emitted by the light-emitting device. The first light receiver will not send a signal to the signal generator, while each second light receiver will send a high-level signal to the signal generator. At this time, the signal generator generates a magnetic pole position indication signal of "0, 0, 1" based on a preset logic algorithm.

[0060] The embodiments provided in this application can determine the light transmission range of the light-transmitting area formed by the outer code track arc and the inner code track arc of the sector based on the output signals of the first optical receiver and the second optical receiver. Furthermore, the signal generator can generate a magnetic pole position indication signal based on the output signals of the first optical receiver and the second optical receiver to accurately indicate the sector swept by the photoelectric encoding module, thereby improving the accuracy of the host computer in determining the magnetic pole position of the servo motor.

[0061] In one embodiment, the light-emitting device is used to emit light of a preset wavelength; here, the value of the preset wavelength can be determined according to actual conditions, and the wavelength of the light can be different from the wavelength of the ambient light in the environment where the servo motor is located. The first light receiver and the second light receiver are respectively used to send an illumination indication signal to the signal generator when they receive light of the preset wavelength.

[0062] Here, both the first and second optical receivers are equipped with bandpass filters at their light receiving components. When the first and second optical receivers are photovoltaic cells, the bandpass filter can be placed between the semiconductor diode of the photovoltaic cell and the code disk, so that the light transmitted through the code disk must pass through the bandpass filter before it can be received by the photovoltaic cell.

[0063] Here, the bandpass filter can be a narrowband filter with its center wavelength being the preset wavelength, in order to block light other than the preset wavelength from illuminating the photovoltaic cell as much as possible, thereby reducing the interference of ambient light on the magnetic pole position detection operation. The embodiments provided in this application can perform magnetic pole position determination based on light of a specific wavelength, improving the anti-interference capability of the servo motor encoder.

[0064] On the other hand, embodiments of the present invention provide a servo motor, which includes the servo motor encoder as described above.

[0065] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A servo motor encoder, applied to a servo motor, characterized in that, The servo motor encoder includes a photoelectric encoding module, a light-emitting device, and a code disk; The center point of the code disk is fixedly connected to the rotor of the servo motor so that the code disk rotates with the rotor. The code disk has multiple sectors, and each sector has a different light transmission range. The plurality of sectors include magnetic pole sectors, and the projection of the magnetic pole sectors along a direction perpendicular to the plane of the code disk covers the location of the magnetic poles of the rotor; The photoelectric encoding module is non-contactly disposed on the first side of the code disk, so that when the code disk rotates, each sector sequentially covers the photoelectric encoding module along the projection direction perpendicular to the plane of the code disk. The light-emitting device is disposed on the second side of the code disk so that the light emitted by the light-emitting device illuminates the code disk; The photoelectric encoding module is used to generate a magnetic pole position indication signal based on the illumination range of the light transmitted through the sector, and send the magnetic pole position indication signal to a remote host computer.

2. The servo motor encoder according to claim 1, characterized in that, Each sector has adjacent outer code track arcs and inner code track arcs, and the light transmission range of the light transmission area formed by the outer code track arcs and inner code track arcs in different sectors is different. The center point is the center of all the outer code track arcs on the code disk; the center point is the center of all the inner code track arcs on the code disk. When the sector is located between the photoelectric encoding module and the light-emitting device, the light-transmitting area of ​​the sector covers the photoelectric encoding module along the projection direction perpendicular to the plane of the code disk.

3. The servo motor encoder according to claim 2, characterized in that, The photoelectric encoding module includes a signal generator, a first optical receiver, and multiple second optical receivers; When the sector is located between the photoelectric encoding module and the light-emitting device, the outer code track arc of the sector projects onto the first light receiver along a direction perpendicular to the code disk plane, and the inner code track arc of the sector projects onto each of the second light receivers along a direction perpendicular to the code disk plane. The first light receiver and the second light receiver are respectively used to send an illumination indication signal to the signal generator when they receive the light. The signal generator is used to generate a magnetic pole position indication signal based on the illumination indication signal sent by the first optical receiver and each of the second optical receivers.

4. The servo motor encoder according to claim 3, characterized in that, The plurality of sectors include a first sector, a second sector, a third sector, a fourth sector, a fifth sector, and a sixth sector; The outer code track arcs of the first sector, the second sector, and the third sector are respectively etched as bright stripes, and the outer code track arcs of the fourth sector, the fifth sector, and the sixth sector are respectively etched as dark stripes; The inner code track arcs of the first sector, the second sector, the third sector, the fourth sector, the fifth sector, and the sixth sector are respectively etched as bright stripes, alternating bright and dark stripes, dark stripes, dark stripes, alternating bright and dark stripes, and bright stripes.

5. The servo motor encoder according to claim 4, characterized in that, The alternating light and dark stripes include multiple light-transmitting stripes and multiple light-blocking stripes; the light-transmitting stripes and the light-blocking stripes are arranged alternately to form the alternating light and dark stripes.

6. The servo motor encoder according to claim 3, characterized in that, The light-emitting device is used to emit light of a preset wavelength; The first light receiver and the second light receiver are respectively used to send an illumination indication signal to the signal generator when they receive light of a preset wavelength.

7. The servo motor encoder according to claim 6, characterized in that, Both the first and second optical receivers are provided with bandpass filters at their light receiving components, and the center wavelength of the bandpass filter is the preset wavelength.

8. The servo motor encoder according to claim 3, characterized in that, The signal generator, the first optical receiver, and a plurality of second optical receivers are mounted on the same circuit board.

9. The servo motor encoder according to claim 3, characterized in that, The first optical receiver and the second optical receiver are both photovoltaic cells.

10. A servo motor, characterized in that, The servo motor includes a servo motor encoder as described in any one of claims 1 to 9.

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