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WO2018107342A1 - Encodeur optique à déplacement angulaire réfléchissant - Google Patents

Encodeur optique à déplacement angulaire réfléchissant Download PDF

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Publication number
WO2018107342A1
WO2018107342A1 PCT/CN2016/109538 CN2016109538W WO2018107342A1 WO 2018107342 A1 WO2018107342 A1 WO 2018107342A1 CN 2016109538 W CN2016109538 W CN 2016109538W WO 2018107342 A1 WO2018107342 A1 WO 2018107342A1
Authority
WO
WIPO (PCT)
Prior art keywords
angular displacement
optical encoder
scale
code wheel
displacement optical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/109538
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English (en)
Chinese (zh)
Inventor
毛宏亮
侯林涛
刘长城
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to CN201680086762.5A priority Critical patent/CN109313044A/zh
Priority to PCT/CN2016/109538 priority patent/WO2018107342A1/fr
Publication of WO2018107342A1 publication Critical patent/WO2018107342A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales

Definitions

  • Embodiments of the present invention relate to the technical field of angular displacement optical encoders, and more particularly to a reflective angular displacement optical encoder.
  • Reflective angular displacement optical encoders are widely used in various angular displacement measurement applications.
  • the principle is to emit light to the code wheel through the light-emitting device, and the light enters the photoelectric conversion device after being reflected by the code wheel.
  • the code wheel 01 has a scale layer with a light and dark interval, and the reflectance of the bright scale layer 011 is higher than that of the dark scale layer 012, so the light intensity entering the photoelectric conversion device when the code wheel 01 rotates will continuously After the change, the electrical signal generated by the photoelectric converter can be accurately detected to detect how many angles the code wheel has rotated.
  • the code wheel 01 is a cylinder, and a scale layer of light and dark is disposed on the circular surface of the code wheel 01.
  • the infrared detector 02 emits infrared rays to the code wheel 01, and the angular displacement detection is realized by detecting the change of the light intensity reflected back.
  • the bright scale layer 011 of the code wheel 01 is mostly made of steel material or metal plating material, so that the reflectance of the bright scale layer 011 to the infrared ray is much larger than the reflectance of the dark scale layer 012 to the infrared ray, so that the infrared detector 02 receives the bright scale.
  • Layer 011 and dark scale layer 012 reflect different intensities of infrared light.
  • the infrared detector 02 and the code wheel 01 are arranged in the axial direction in sequence, the infrared detector 02 needs to occupy a certain height, and the code wheel 01 needs to occupy a certain height, and a certain height is required between the two, resulting in the technology. It requires a large space in the axial direction, which is not conducive to the compact design of the system;
  • Scale layer width practical circumference length / number of scales. When the number of scales is constant, the closer to the center scale layer, the narrower it is. In order to ensure clear detection, it is necessary to ensure that the scale layer width of the inner ring is larger than the minimum detectable. The width limits the resolution of the entire reflective angular displacement optical encoder.
  • Embodiments of the present invention provide a reflective angular displacement optical encoder, which is relatively compact and can accurately measure the angular displacement of a motor rotor.
  • an embodiment of the present invention provides a reflective angular displacement optical encoder comprising a code wheel and an infrared detector, wherein the code wheel comprises a code disc body, and the code disc body is a columnar body structure, The sidewall is equally divided into a plurality of scale regions in the circumferential direction, and the scale region is filled with a clear scale layer or a dark scale layer, and the bright scale layer and the dark scale layer are alternately arranged; the infrared detector is disposed along the radial direction of the code wheel body. On one side of the code wheel, the infrared ray emitted by the infrared detector is reflected by the bright scale layer or the dark scale layer and is reflected and received by the infrared detector.
  • the reflective angular displacement optical encoder rotates the code wheel with the rotor of the motor coaxially, and the infrared detector emits infrared rays, infrared rays and the sidewalls disposed on the main body of the code wheel body.
  • the bright scale layer or the dark scale layer is reflected after contact, and since the reflectance of the bright scale layer and the dark scale layer to the infrared rays are different, the infrared detector receives different infrared rays, thereby calculating the rotor of the motor.
  • Angular displacement is reflected after contact, and since the reflectance of the bright scale layer and the dark scale layer to the infrared rays are different, the infrared detector receives different infrared rays, thereby calculating the rotor of the motor.
  • the reflective angular displacement optical encoder since the infrared detector is disposed on one side of the code wheel in the radial direction of the code wheel main body, the reflective angular displacement optical encoder has a small size in the axial direction, and the structure is relatively compact, and the device is convenient to implement. Light and thin.
  • the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code disc main body, the maximum circumference of the code disc main body is utilized, so that the designer can directly set the scale layer according to the maximum circumference of the code disc main body. The number to ensure the resolution of the code wheel.
  • the scale layer is disposed on the upper/lower bottom surface of the main body of the code disc and extends along the radial direction of the bottom surface, so that
  • the code disc provided by the technique has an accuracy determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the radii of the circle smaller than the circumference of the main body of the code disc;
  • the scale layer and the dark scale layer are filled to cover the scale area, so that the widths of the scale layer and the dark scale layer are the same as the width of the scale area, and the width of the scale area is formed by the circumference of the code wheel body, so the embodiment of the invention
  • the resolution of the provided code disc is much larger than the resolution of the code wheel provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the angular displacement of the rotor of the motor during use.
  • the central axis of the code wheel body is parallel to the edge of the scale area in the height direction. Filling the bright scale layer or the dark scale layer covering the scale area at the same width dimension in the circumferential direction of the code disc body is convenient for observation and measurement calculation.
  • one of the bright scale layers is formed A bright scale layer having a concave structure, and the concave structure is recessed toward the center of the code wheel body.
  • the bright-scale layer with a concave structure has a much higher reflectivity than other bright-scale layers, which helps to calibrate the absolute zero.
  • the motor in conjunction with any of the possible implementations of the first aspect, includes an upper rotor and a lower rotor, and the upper or lower rotor is a code wheel body.
  • the size of the reflective angular displacement optical encoder system in the axial direction is further reduced, and the compactness of the system is improved.
  • the code disc body is made of a PCB substrate, and a plurality of metal layers are formed on the sidewall of the code disc body by an electroplating process.
  • the metal layer is a bright scale layer of the code wheel.
  • the bright scale layer is a metal layer disposed on the PCB substrate, and the dark scale layer is a PCB substrate between two bright scale layers.
  • the metal layer has a high reflectivity to infrared rays, and the PCB substrate has a high reflectance to infrared rays. Low, can accurately reflect the rotation of the main body of the code disc.
  • the code wheel body may be a cylinder or a positive prism.
  • the motor is a PCB motor disposed on the motor drive board, and one side of the PCB motor is provided with an infrared detector, the infrared detector Securely attached to the motor drive board.
  • the infrared detector is attached to the motor drive plate by soldering.
  • the plurality of bright scale layers form a plurality of bright scale layers having a concave structure, and the plurality of concave surface structures are all directed to the code disc body The center of the depression.
  • the bright scale layer of multiple concave structures enables self-calibration of the rotation process, making the measurement results more accurate.
  • the infrared detector comprises a light emitting device capable of emitting infrared rays and a photoelectric conversion device capable of receiving infrared rays, and the infrared rays emitted by the light emitting device are clearly scaled After the layer or dark scale layer is reflected, it enters the photoelectric conversion device and generates an electrical signal.
  • the illuminating device of the infrared detector emits infrared rays, and the infrared ray is reflected to the bright scale layer or the dark scale layer, and the photoelectric conversion device receives the reflected infrared ray to generate an analog voltage, and the magnitude of the analog voltage reflects the reflectance. A more intuitive test result is obtained.
  • FIG. 1 is a schematic structural view of a reflective angular displacement optical encoder provided by the prior art
  • FIG. 2 is a schematic structural diagram of a reflective angular displacement optical encoder according to an embodiment of the present invention
  • FIG. 3 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a reflective angular displacement optical encoder having an absolute zero calibration function according to an embodiment of the present invention
  • FIG. 6 is a top view of a code wheel of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a bright scale layer has a concave structure;
  • FIG. 7 is a top plan view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer and is reflected;
  • FIG. 8 is a top view of a reflective angular displacement optical encoder according to an embodiment of the present invention, wherein a light beam emitted by an infrared detector is in contact with a bright scale layer having a concave structure and is reflected;
  • FIG. 9 is a front view of a reflective angular displacement optical encoder applied to a PCB motor according to an embodiment of the present invention.
  • FIG. 10 is a perspective view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
  • FIG. 11 is a top view of the reflective prismatic optical encoder according to the embodiment of the present invention when the code disc main body is a positive prism;
  • FIG. 12 is a top view of a reflective prismatic optical encoder according to an embodiment of the present invention, wherein the code disc body has a positive prism, and one of the bright scale layers has a concave structure.
  • the reflective angular displacement optical encoder has a system architecture as shown in FIG. 2 to FIG. 4, and includes a code wheel 1 and an infrared detector 2.
  • the code wheel 1 includes a code wheel body 11 of a columnar structure, and a code wheel.
  • the sidewall of the main body 11 is equally divided into a plurality of scale regions along the circumferential direction thereof, and the scale region is filled with a clear scale layer 12 or a dark scale layer 13 and the bright scale layer 12 and the dark scale layer 13 are alternately arranged;
  • the infrared detector 2 is along The radial direction of the dial main body 11 is disposed on one side of the code wheel 1.
  • the infrared ray emitted from the infrared detector 2 is reflected by the bright scale layer 12 or the dark scale layer 13 and is received by the infrared detector 2.
  • the code wheel 1 rotates coaxially with the rotor of the motor, and the infrared detector 2 emits infrared rays, infrared rays and is disposed on the main body 11 of the code wheel.
  • the bright scale layer 12 or the dark scale layer 13 on the side wall is reflected after being contacted. Since the reflectance of the bright scale layer 12 and the dark scale layer 13 to the infrared rays is different, the intensity of the infrared light received by the infrared detector 2 is different. This calculates the angular displacement of the rotor of the motor.
  • the reflective angular displacement optical encoder since the infrared detector 2 is disposed on one side of the code wheel 1 in the radial direction of the code wheel main body 11, the reflective angular displacement optical encoder has a small size in the axial direction and a compact structure. It is easy to realize the thin and light equipment.
  • the scale layer of the reflective angular displacement optical encoder is disposed on the side wall of the code wheel main body 11, the maximum circumference of the code disc main body 11 is utilized, so that the designer can directly set according to the maximum circumference of the code disc main body 11. The number of scale layers to ensure the resolution of the code wheel 1.
  • the scale layer is disposed on the upper/lower bottom surface of the code disc main body 11 and extends in the radial direction of the bottom surface. Therefore, the precision of the code disc provided by the prior art is determined by the width of the scale layer near the center of the upper/lower bottom surface, and the width is formed by the unequal division of the radius of the main body 11 of the code disc body 11; 1.
  • the widths of the scale layer 12 and the dark scale layer 13 are the same as the width of the scale area, and the width of the scale area is defined by the circumference of the code wheel body 11.
  • the resolution of the code disc 1 provided by the embodiment of the present invention is far greater than the resolution of the code disc provided by the prior art, so that the reflective angular displacement optical encoder can accurately measure the rotor of the motor during use. Angular displacement.
  • the edge of the scale area in the height direction is parallel to the central axis of the code wheel main body 11. Since the scale area is formed by equally dividing the side wall of the code wheel main body 11, when the edge of the scale area in the height direction is parallel to the axial direction of the code wheel main body 11, it is formed.
  • the same scale area at each width dimension makes the width dimension of the bright scale layer 12 or the dark scale layer 13 covering the scale area also the same, so that it is only necessary to ensure that the width dimension of the scale area is larger than the minimum detectable width. It is possible to ensure the resolution of the reflective angular displacement optical encoder, which is advantageous for observation and measurement calculations and the like.
  • one of the bright scale layers 12 is recessed toward the center of the code wheel main body 11 to form a concave structure 121.
  • the bright scale layer 12 having the concave structure 121 has a much higher reflectance than the other bright scale layers 12, and thus the infrared ray received by the infrared detector 2 is more strongly reflected by the concave structure 121, thereby calibrating the absolute zero.
  • Absolute zero is the semaphore used to assist the period in which the statistic disk 1 is rotated. It is also called the absolute zero signal. In detail, it can be used as a starting bit. When it is rotated to this position every week, there will be A different pulse signal indicates that this particular position has passed.
  • the absolute zero signal can be used as a marker for a particular position of the device or as a start bit for recounting after many weeks of continuous rotation.
  • the axial dimension of the system is an important criterion for measuring the compactness of the system.
  • the code wheel body 11 is the upper rotor 31 or the lower rotor 32 of the motor 3.
  • the size of the system in which the reflective angular displacement optical encoder is mounted is reduced by one code wheel.
  • the height further reduces the size of the system in the axial direction and increases the compactness of the system.
  • the code body 11 is made of a PCB substrate, and the bright scale layer 12 is a metal layer formed on the sidewall of the code body 11 by an electroplating process.
  • the bright scale layer 12 is a metal layer disposed on the PCB substrate, and the dark scale layer 13 is a PCB substrate between the two bright scale layers 12, the metal layer has a high reflectivity to infrared rays, and the PCB substrate has infrared rays. The reflectance is very low, so that the code wheel 1 can accurately reflect the rotation of the code wheel main body 11 during use.
  • the metal layer of the sidewall of the dark scale layer 13 can be completely removed (for example, milling using a milling machine, etc.).
  • the method can also perform the detachable cover protection on the scale area where the dark scale layer 13 is located before plating, and then plate the whole side wall of the code wheel, and remove the scale area covering the dark scale layer 13 after the plating is finished.
  • the protective structure on the top can form alternating light and dark Scale layer.
  • the code body 11 is a cylinder or a regular prism.
  • the cylinder is simple to make and easy to obtain, and the number of scale zones can be flexibly set according to actual needs.
  • the edge of the positive prism is parallel to its central axis and perpendicular to the upper and lower bottom surfaces, and the side wall of the positive prism is composed of a plurality of rectangles of the same size, so that the side wall of the positive prism can directly form a scale area, which is convenient for filling and covering the bright scale layer 12 and Dark scale layer 13.
  • the code wheel main body 11 is a positive prism, and the number of edges of the positive prism is the same as the total number of the bright scale layer 12 and the dark scale layer 13, that is, the structure of the positive prism.
  • the plurality of rectangles of the side wall of the dial main body 11 only one bright scale layer 12 or one dark scale layer 13 is provided on each rectangle, so that the scale layer can be more easily filled to cover the scale area.
  • the motor 3 is a PCB motor
  • the PCB motor is disposed on the motor driving board 4, and the infrared detector 2 is fixedly connected to The motor is driven on the board 4.
  • the motor driving board 4 can improve the stability of the PCB motor when rotating.
  • the stator (not shown) of the PCB motor is first fixed on the motor driving board 4, and then the upper rotor 31 and the lower rotor 32 are along the stator.
  • the stator is clamped axially, which keeps the relative position of the stator fixed while the PCB motor is running, and does not malfunction, thereby improving the stability of the PCB motor during operation.
  • the infrared detector 2 fixed to the motor driving board 4 does not have a relative shift between the encoder 1 and the code wheel 1 during use, thereby ensuring the accuracy of the detection result.
  • the infrared detector 2 is first fixed on the motor driving board 4 after assembly, and then the motor driving board 4 is assembled in the device. At this time, the infrared detector 2 can be fixed on a relatively wide installation space such as a console. Connected to the motor drive board 4, this makes the assembly of the infrared detector 2 less difficult.
  • the infrared detector 2 is soldered to the motor drive board.
  • the welding method is fast and the connection reliability is high, which is beneficial to improve the assembly efficiency.
  • a plurality of bright scale layers 12 are recessed toward the center of the code wheel body 11 to form a plurality of concave structures 121.
  • the bright scale layer 12 having the concave structure 121 has a reflectance much larger than that of the other bright scale layers 12, and when the code wheel main body 11 rotates, when the bright scale layer 12 having the concave structure 121 is rotated to oppose the infrared detector 2, the infrared The detector 2 receives a strong infrared ray, thereby generating a higher voltage signal.
  • the infrared detector 2 continuously generates a plurality of higher voltage signals, and the system can be based on a plurality of higher voltages. Signal to achieve turn The process is self-calibrating to make the measurement results more accurate.
  • the infrared detector 2 includes a light emitting device and a photoelectric conversion device.
  • the light emitting device emits infrared rays and is reflected by the bright scale layer 12 or the dark scale layer 13, and the reflected light enters the photoelectric conversion device to generate an electrical signal.
  • the light emitting device of the infrared detector 2 emits infrared rays, and the infrared rays are irradiated to the bright scale layer 12 or the dark scale layer 13 to be reflected, and the photoelectric conversion device receives the reflected infrared rays to generate an analog voltage, and the magnitude of the voltage reacts to the scale layer to the infrared rays.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)

Abstract

La présente invention concerne un encodeur optique à déplacement angulaire réfléchissant, qui comprend un disque d'encodage (1) et un détecteur infrarouge (2). Le disque d'encodage (1) comprend un corps de disque d'encodage (11) de structure cylindrique, une paroi latérale du corps de disque d'encodage (11) est divisée de manière égale dans une direction circonférentielle en une pluralité de zones d'échelle remplies avec des couches d'échelle lumineuses (12) ou des couches d'échelle sombres (13) et recouvertes par lesdites couches, les couches d'échelle lumineuses (12) et les couches d'échelle sombres (13) étant disposées de façon alternée. Le détecteur infrarouge (2) est agencé sur un côté du disque d'encodage (1) dans une direction radiale du corps de disque d'encodage (11), et des rayons infrarouges émis par le détecteur infrarouge (2) entrent en contact avec les couches d'échelle lumineuses (12) ou les couches d'échelle sombres (13), puis sont réfléchies et reçues par le détecteur infrarouge (2). L'encodeur optique à déplacement angulaire réfléchissant : résout les problèmes rencontrés dans l'état de la technique liés au fait que l'encodeur optique à déplacement angulaire réfléchissant occupe un espace important et présente une faible résolution ; et peut mesurer avec précision le déplacement angulaire d'un rotor d'un moteur.
PCT/CN2016/109538 2016-12-12 2016-12-12 Encodeur optique à déplacement angulaire réfléchissant Ceased WO2018107342A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680086762.5A CN109313044A (zh) 2016-12-12 2016-12-12 一种反射式角位移光编码器
PCT/CN2016/109538 WO2018107342A1 (fr) 2016-12-12 2016-12-12 Encodeur optique à déplacement angulaire réfléchissant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/109538 WO2018107342A1 (fr) 2016-12-12 2016-12-12 Encodeur optique à déplacement angulaire réfléchissant

Publications (1)

Publication Number Publication Date
WO2018107342A1 true WO2018107342A1 (fr) 2018-06-21

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WO (1) WO2018107342A1 (fr)

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CN111482950A (zh) * 2019-01-29 2020-08-04 发那科株式会社 机器人
CN116558424A (zh) * 2023-07-10 2023-08-08 中国科学院长春光学精密机械与物理研究所 采用点光源反射成像的位移测量装置

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WO2021051488A1 (fr) * 2019-11-01 2021-03-25 深圳市速腾聚创科技有限公司 Appareil de mesure de déplacement angulaire, lidar et procédé de réglage d'angle

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CN102597710A (zh) * 2009-09-17 2012-07-18 皮埃佐克莱斯特先进传感器有限公司 获取角度信号的装置
CN201680850U (zh) * 2010-05-04 2010-12-22 成都雷奥风电传感器有限公司 一种反射式绝对值光电旋转编码器
CN102435216A (zh) * 2011-09-15 2012-05-02 成都伊贝基科技有限公司 高精度编码轮、及其构成的编码器
JP2015031701A (ja) * 2013-07-31 2015-02-16 株式会社ミツトヨ 回折格子スケール
CN105843262A (zh) * 2015-02-04 2016-08-10 三星电子株式会社 用于控制旋转设备的方法及其电子装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111482950A (zh) * 2019-01-29 2020-08-04 发那科株式会社 机器人
CN116558424A (zh) * 2023-07-10 2023-08-08 中国科学院长春光学精密机械与物理研究所 采用点光源反射成像的位移测量装置
CN116558424B (zh) * 2023-07-10 2023-09-22 中国科学院长春光学精密机械与物理研究所 采用点光源反射成像的位移测量装置

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