Patent Grant
12066454
The contents of the following Japanese patent application are incorporated herein by reference:
No. 2018-061036 filed in JP on Mar. 28, 2018, and
No. PCT/JP2019/012280 filed in WO on Mar. 22, 2019.
The present invention relates to an encoder device, a manufacturing method of an encoder device, a drive device, a stage device, and a robot device.
An encoder device that detects position information of an object to be detected, such as a rotating angle, a rotating speed and the like is mounted to a variety of devices such as a robot device. As the encoder device of the related art, known is a device that converts a change in magnetic field of a rotating magnet into an electric signal by using a magnetic wire such as a Wiegand wire and obtains a rotating speed by using the electric signal (for example, see Patent Document 1). For the encoder device in which the magnetic wire is used as described above, it is needed to generate a stable electric signal by reducing noises due to an unnecessary magnetic field of the magnet, thereby improving reliability of a detection result.
Patent Document 1: Japanese Patent Application Publication No. H08-136558
According to a first aspect, there is provided an encoder device comprising a position detection unit for detecting position information of a moving part; a magnet having a plurality of polarities along a moving direction of the moving part; an electric signal generation unit for generating an electric signal, based on a magnetic characteristic of a magnetosensitive part, the electric signal generation unit having the magnetosensitive part whose magnetic characteristic is changed by a change in magnetic field associated with movement of the moving part and a first magnetic body for guiding magnetic flux lines of the magnet toward the magnetosensitive part; and a second magnetic body for guiding magnetic flux lines of a part having one polarity of the magnet toward a part having other polarity of the magnet, the second magnetic body being disposed between the magnet and the magnetosensitive part.
According to a second aspect, there is provided a drive device comprising the encoder device according to the first aspect; and a power supplying unit for supplying power to the moving part. According to a third aspect, there is provided a stage device comprising a moving object; and the drive device according to the second aspect for moving the moving object. According to a fourth aspect, there is provided a robot device comprising the drive device according to the second aspect, and an arm for causing relative movement by the drive device.
According to a fifth aspect, there is provided a manufacturing method of an encoder device, the encoder device comprising: a position detection unit for detecting position information of a moving part; a magnet having a plurality of polarities along a moving direction of the moving part; an electric signal generation unit having a magnetosensitive part whose magnetic characteristic is changed by a change in magnetic field associated with movement of the moving part, an electric power generation part for generating an electric signal based on the magnetic characteristic of the magnetosensitive part, and a first magnetic body for guiding magnetic flux lines of the magnet toward the magnetosensitive part; and a second magnetic body for guiding magnetic flux lines of a part having one polarity of the magnet toward a part having other polarity of the magnet, the second magnetic body being disposed between the magnet and the magnetosensitive part, the manufacturing method of the encoder device comprising: preparing the magnetosensitive part, the electric power generation part, and the first magnetic body; inserting the electric power generation part into a first hole portion of an assembling jig and inserting the magnetosensitive part into a second hole portion provided in the first hole portion through the electric power generation part; fixing the electric power generation part and the magnetosensitive part; and fixing the electric power generation part taken out from the assembling jig to a housing disposed on a side surface of the second magnetic body.
According to a sixth aspect, there is provided a manufacturing method of an encoder device, the encoder device comprising: a position detection unit for detecting position information of a moving part; a magnet having a plurality of polarities along a moving direction of the moving part; an electric signal generation unit having a magnetosensitive part whose magnetic characteristic is changed by a change in magnetic field associated with movement of the moving part, an electric power generation part for generating an electric signal based on the magnetic characteristic of the magnetosensitive part, and a first magnetic body for guiding magnetic flux lines of the magnet toward the magnetosensitive part; and a second magnetic body for guiding magnetic flux lines of a part having one polarity of the magnet toward a part having other polarity of the magnet, the second magnetic body being disposed between the magnet and the magnetosensitive part, the manufacturing method of the encoder device comprising: preparing the magnetosensitive part, the electric power generation part, and the first magnetic body; fixing the electric power generation part to a housing disposed on a side surface of the second magnetic body; inserting the magnetosensitive part into the electric power generation part through an opening provided in the housing; and fixing the magnetosensitive part to the housing.
A first embodiment is described with reference to
The encoder device EC comprises a position detection system (position detection unit) 1 and an electric power supplying system (electric power supplying unit) 2. The position detection system 1 detects the rotational position information of the rotary shaft SF. The encoder device EC is a so-called multi-turn absolute encoder, and detects the rotational position information including multi-turn information indicative of the number of rotations of the rotary shaft SF and angular position information indicative of an angular position (rotating angle) less than one-turn. The encoder device EC comprises a multi-turn information detection unit 3 for detecting the multi-turn information of the rotary shaft SF, and an angle detection unit 4 for detecting the angular position of the rotary shaft SF.
At least a part (for example, an angle detection unit 4) of the position detection system 1 operates by receiving electric power supply from a device (for example, a drive device, a stage device, a robot device) on which the encoder device EC is mounted, in a state (for example, a normal state) where a power supply of the device is on, for example. Also, at least a part (for example, a multi-turn information detection unit 3) of the position detection system 1 operates by receiving electric power supply from the electric power supplying system 2, in a state (for example, an abnormal state and a backup state) where a power supply of the device on which the encoder device EC is mounted is off. For example, in a state where the supply of electric power from the device on which the encoder device EC is mounted is cut off, the electric power supplying system 2 intermittently supplies electric power to at least a part (for example, the multi-turn information detection unit 3) of the position detection system 1, and the position detection system 1 detects at least a part (for example, multi-turn information) of the rotational position information of the rotary shaft SF during electric power is supplied from the electric power supplying system 2.
The multi-turn information detection unit 3 detects multi-turn information by magnetism, for example. The multi-turn information detection unit 3 includes, for example, a magnet 11, magnetism detection units 12, a detection unit 13, and a storage unit 14. The magnet 11 is a block-shaped divided magnet or a annular-shaped magnet, and is provided on a bottom surface (an inside of a side surface) of a yoke member 18 (which will be described in detail later) having a short cylindrical side surface and an annular bottom surface. The yoke member 18 is fixed to the rotary shaft SF via a disc-shaped support member 15, as an example. An upper surface of the yoke member 18 is provided with a disc 5 having an annular flat plate shape so as to cover the magnet 11. Since the disc 5 and the yoke member 18 rotate together with the rotary shaft SF, the magnet 11 rotates in conjunction with the rotary shaft SF. Mutual relative positions of the magnet 11 and the magnetism detection unit 12 are changed by the rotation of the rotary shaft SF. The strength and direction of a magnetic field on the magnetism detection unit 12 formed by the magnet 11 are changed by the rotation of the rotary shaft SF. The magnetism detection unit 12 detects a magnetic field that is formed by the magnet, and the detection unit 13 detects the position information of the rotary shaft SF, based on a detection result of the magnetism detection unit 12 detecting the magnetic field that is formed by the magnet 11. The storage unit 14 stores the position information detected by the detection unit 13. Note that, the magnet 11 may also be configured to rotate relative to the rotary shaft SF.
The angle detection unit 4 is an optic or magnetic encoder, and detects position information (angular position information) within one-turn of the disc 5. For example, in a case where the angle detection unit 4 is an optic encoder, the angle detection unit 4 detects the angular position within one-turn of the rotary shaft SF by reading patterning information of the disc 5 with a light-receiving element, for example. The patterning information of the disc 5 is, for example, a pattern with bright and dark slits on the disc 5. The angle detection unit 4 detects the angular position information of the rotary shaft SF that is the same as a detection target of the multi-turn information detection unit 3. The angle detection unit 4 includes a light-emitting element 21, the disc 5, a light-receiving sensor 22, and a detection unit 23.
The disc 5 rotates in conjunction with the rotary shaft SF. An incremental scale S and an absolute scale S are formed on an upper surface (a surface facing the light-emitting element 21 and the light-receiving sensor 22) of the disc 5. The scale S may also be provided on another disc-shaped member (not shown) fixed to the rotary shaft SF or may be a member integrated with the disc-shaped member. For example, the disc 5 may be provided between the magnet 11 and the motor M. The scale S may be provided on at least one of the inside and the outside of the magnet 11.
The light-emitting element 21 (an irradiation unit, a light-emitting unit) irradiates the scale S of the disc 5 with light. The light-receiving sensor 22 (a light detection unit) detects light emitted from the light-emitting element 21 and passing through the scale S. In
In the present embodiment, the encoder device EC comprises a signal processing unit 25. The signal processing unit 25 calculates and processes a detection result of the position detection system 1. The signal processing unit 25 includes a synthesis unit 26 and an external communication unit 27. The synthesis unit 26 acquires the angular position information of the second resolution detected by the detection unit 23. Also, the synthesis unit 26 acquires the multi-turn information of the rotary shaft SF from the storage unit 14 of the multi-turn information detection unit 3. The synthesis unit 26 synthesizes the angular position information from the detection unit 23 and the multi-turn information from the multi-turn information detection unit 3, and calculates the rotational position information. For example, when the detection result of the detection unit 23 is θ (rad) and the detection result of the multi-turn information detection unit 3 is n-turn, the synthesis unit 26 calculates (2π×n+θ) (rad), as the rotational position information. The rotational position information may also be information in which the multi-turn information and the angular position information less than one-turn are combined.
The synthesis unit 26 supplies the rotational position information to the external communication unit 27. The external communication unit 27 is communicatively connected to a communication unit MCC of the motor control unit MC in a wired or wireless manner. The external communication unit 27 supplies the rotational position information of a digital format to the communication unit MCC of the motor control unit MC. The motor control unit MC appropriately decodes the rotational position information from the external communication unit 27 of the angle detection unit 4. The motor control unit MC controls the rotation of the motor M by controlling electric power (drive electric power) supplied to the motor M by using the rotational position information.
The electric power supplying system 2 includes a first electric signal generation unit 31A and a second electric signal generation unit 31B, a battery 32, and a switching unit 33. The electric signal generation units 31A and 31B each generate an electric signal by the rotation of the rotary shaft SF. The electric signal includes a waveform where electric power (current, voltage) changes over time, for example. The electric signal generation units 31A and 31B each generate electric power as the electric signal by a magnetic field that changes based on the rotation of the rotary shaft SF, for example. For example, the electric signal generation units 31A and 31B generate electric power by a change in magnetic field formed by the magnet 11 that is used for the multi-turn information detection unit 3 to detect the multi-turn position of the rotary shaft SF. The electric signal generation units 31A and 31B are each disposed so that a relative angular position to the magnet 11 is changed by the rotation of the rotary shaft SF. The electric signal generation units 31A and 31B generate positive or negative pulsed electric signals when relative positions of the electric signal generation units 31A and 31B and the magnet 11 each reach predetermined positions, for example. By performing full-wave rectification by a rectifier or the like on the electric signals, DC electric signals that can be easily used in an electric circuit and the like are obtained.
The battery 32 supplies at least a part of electric power that is consumed in the position detection system 1, based on the electric signals generated from the electric signal generation units 31A and 31B. The battery 32 includes, for example, a primary battery 36 such as a button-shaped battery and a dry-cell battery, and a rechargeable secondary battery 37 (see
The switching unit 33 switches whether to supply electric power from the battery 32 to the position detection system 1, based on the electric signals generated from the electric signal generation units 31A and 31B. For example, the switching unit 33 starts supply of electric power from the battery 32 to the position detection system 1 when post-full-wave-rectification levels of the electric signals generated from the electric signal generation units 31A and 31B become equal to or higher than a threshold value. Also, for example, the switching unit 33 stops the supply of electric power from the battery 32 to the position detection system 1 when the post-full-wave-rectification levels of the electric signals generated from the electric signal generation units 31A and 31B become lower than the threshold value. For example, the switching unit 33 stops the supply of electric power from the battery 32 to the position detection system 1 when the electric power generated from the electric signal generation units 31A and 31B becomes lower than the threshold value. For example, in a case where a pulsed electric signal is generated in the electric signal generation units 31A and 31B, the switching unit 33 starts the supply of electric power from the battery 32 to the position detection system 1 at the time when a post-full-wave-rectification level (electric power) of the electric signal rises from a low level to a high level, and stops the supply of electric power from the battery 32 to the position detection system 1 after a predetermined time elapses since the level (electric power) changes to the low level.
In
A front surface (a surface opposite to the motor M in
Herein, in a coordinate system fixed to the magnet 11, an intermediate angular position between the S pole 16D and the N pole 16A in the circumferential direction is denoted as a first position 11a, and angular positions (middles between the N pole and the S pole) sequentially rotated by 90° from the first position 11a are each denoted as second, third and fourth positions 11b, 11c and 11d. In a first section from the first position 11a to the position 90° counterclockwise, the N pole 16A is disposed on the front surface-side of the magnet 11, and the S pole 17A is disposed on the back surface-side of the magnet 11. In the first section, a direction of the magnetic field of the magnet 11 in the axial direction is substantially parallel to the axial direction AD1 (see
In a second section from the second position 11b to the position 90° counterclockwise (a section in which the S pole is disposed on the front surface-side of the magnet 11, and the N pole is disposed on the back surface-side of the magnet 11), a direction of the magnetic field of the magnet 11 in the axial direction is substantially a direction from the back surface-side toward the front surface-side of the magnet 11 (for example, an opposite direction to the direction of the axial direction AD1 (
As such, the directions of the magnetic field formed by the magnet 11 in the axial direction are sequentially reversed in the first position 11a to the fourth position 11d. In the present embodiment, since the magnets of the N pole 16A to the S pole 16D (the S pole 17A to the N pole 17D) are away from each other in the circumferential direction, the magnetic field is relatively small in the first to fourth positions and in areas near the first to fourth positions. The magnet 11 forms an AC magnetic field in which the direction of the magnetic field in the axial direction is reversed with the rotation of the magnet 11, with respect to the coordinate system fixed to the outside of the magnet 11. The electric signal generation units 31A and 31B are disposed on the upper surface and outer surface (for example, the vicinity of the side surface of the rotary shaft SF, the vicinity of the side surface of the yoke member 18 (a side yoke 18S)) of the magnet 11, as seen from a normal direction of the main surfaces of the magnet 11.
In the present embodiment, main body parts (parts including magnetosensitive parts 41A and 41B and electric power generation parts 42A and 42B, which will be described later) of the electric signal generation units 31A and 31B are provided without contacting the magnet 11 with each going away from the magnet 11 in a radial direction (for example, a diametrical direction) orthogonal to the rotary shaft SF or in a direction parallel to the radial direction. A first electric signal generation unit 31A includes a magnetosensitive part 41A, an electric power generation part 42A, a first magnetic body 45A, and a third magnetic body 46A. The first magnetic body 45A and the third magnetic body 46A are members that are substantially line-symmetric in shape. Note that, one of the first magnetic body 45A and the third magnetic body 46A can be omitted.
Also, in the present embodiment, the yoke member 18 (for example, a guide member of magnetic flux lines or magnetic field) is formed of a ferromagnetic material such as iron, and a bottom surface on which the magnet 11 is placed and has an opening 18a is referred to as a back yoke 18B, and a short cylindrical side part surrounding the back yoke 18B is referred to as a side yoke 18S. The back yoke 18B acts to guide magnetic flux lines (or magnetic field lines) of a part having a predetermined polarity (for example, the S pole 17A) of the magnet 11 placed on an upper surface thereof toward a part having the other polarity (for example, the N poles 17B and 17D). The side yoke 18S acts to guide magnetic flux lines of a part having a predetermined polarity (for example, the N pole 16A) close to the side yoke 18S toward a part having the other polarity (for example, the S pole 17A) on the back surface of the part, and toward a part having the other polarity (for example, the S poles 16B and 16D) circumferentially adjacent to the part. The yoke member 18 (side yoke 18S) is a different member from the first magnetic body 45A and the third magnetic body 46A (a member different from the first magnetic body 45A and the third magnetic body 46A). In the present embodiment, since the side yoke 18S can also be referred to as a second magnetic body, the magnetic body 46A of the electric signal generation unit 31A is referred to as the third magnetic body. As such, the electric signal generation unit 31A of the present embodiment can generate a stable and efficient signal as the yoke member 18 prevents the magnetic flux lines of the magnet 11 from directly being affected from the magnet 11.
The magnetosensitive part 41A and the electric power generation part 42A of the electric signal generation unit 31A are fixed near an outer surface (or an outer diameter-side) of the side yoke 18S surrounding continuously the magnet 11 along a moving direction of the moving part (for example, the rotating direction of the rotary shaft SF) or above the vicinity of the side surface, and relative positions thereof to each position on the magnet 11 change with rotation of the magnet 11. For example, in
The magnetosensitive part 41A is a magnetosensitive wire such as a Wiegand wire. In the magnetosensitive part 41A, large Barkhausen jump (Wiegand effect) is generated by the change in magnetic field associated with the rotation of the magnet 11. The magnetosensitive part 41A is an elongated cylindrical member, and an axial direction thereof is set in the circumferential direction of the rotary shaft SF, as an example. Hereinafter, the axial direction of the magnetosensitive part 41A, i.e., a direction perpendicular to a circular (or which may be polygonal or the like) cross-section of the magnetosensitive part 41A is referred to as a length direction LD1 of the magnetosensitive part 41A. When the AC magnetic field is applied in the axial direction (length direction) of the magnetosensitive part 41A and the AC magnetic field is reversed, the magnetosensitive part 41A generates a magnetic domain wall from one end toward the other end in the axial direction. As shown in
The first magnetic body 45A and the third magnetic body 46A are formed of a ferromagnetic material such as iron, cobalt, nickel, for example. The first magnetic body 45A is provided between the front surface of the magnet 11 and one end of the magnetosensitive part 41A, so as to override the side yoke 18S, and the third magnetic body 46A is provided between the front surface of the magnet 11 and the other end of the magnetosensitive part 41A, so as to override the side yoke 18S. In substantially rectangular flat plate-shaped parts of the first magnetic body 45A and the third magnetic body 46A, adjacent to the magnetosensitive part 41A, from their upper surfaces to central portions, elongated notched portions 45Aa and 46Aa for receiving the magnetosensitive part 41A when assembling and adjusting the electric signal generation unit 31A are formed. Tip end portions 45Ab and 46Ab of the first magnetic body 45A and the third magnetic body 46A on the magnet 11-side are symmetrically inwardly (inverted V-shape) inclined in substantially the same positions as one side of parts of two polarities different from each other (N pole 16A and S pole 17A) in the circumferential direction and so as to be substantially parallel to the one side, in the first position 11a. In other words, the tip end portion 45Ab of the first magnetic body 45A and the tip end portion 46Ab of the third magnetic body 46A are one pair (line symmetry), and the tip end portions 45Ab and 46Ab are formed in a direction of coming close to each other (an inward direction) with respect to a reference line of the line symmetry. Also, as shown in
In the first position 11a to the fourth position 11d and the near positions thereof, the polarities of the magnet 11 are always opposite to each other at the tip end portions 45Ab and 46Ab of the first magnetic body 45A and the third magnetic body 46A, and when the tip end portion 45Ab of the first magnetic body 45A is positioned near the N pole 16A (or the S pole 16B), the tip end portion 46Ab of the third magnetic body 46A is positioned near the S pole 16D (or the N pole 16A). For this reason, in the positions 11a to 11d and the near positions thereof, the first magnetic body 45A and the third magnetic body 46A guide magnetic flux lines from the two parts having polarities different from each other of the magnet 11 (for example, the N pole 16A and the S pole 16D), which are located at positions different from each other in the circumferential direction of the magnet 11, in the length direction of the magnetosensitive part 41A.
The electric power generation part 42A is, for example, a high-density coil wound and disposed on the magnetosensitive part 41A. Note that, in the present embodiment, as an example, the electric power generation part 42A and the magnetosensitive part 41A are manufactured or prepared independently of each other, and when assembling the encoder device EC, the magnetosensitive part 41A is inserted into a central through-hole 42Ac (refer to
A direction of the current generated in the electric power generation part 42A is changed in accordance with the direction of the magnetic field before and after the reversal. For example, a direction of the current that is generated upon the reversal from the magnetic field toward the front surface-side to the magnetic field toward the back surface-side of the magnet 11 is opposite to a direction of the current that is generated upon the reversal from the magnetic field toward the back surface-side to the magnetic field toward the front surface-side of the magnet 11. The electric power (induction current) that is generated in the electric power generation part 42A can be set by the number of turns in the high-density coil, for example.
The magnetosensitive part 41A, the electric power generation part 42A, and the first magnetic body 45A and the third magnetic body 46A are accommodated in a housing 6 (see
The second electric signal generation unit 31B is disposed in an angular position forming an angle larger than 0° and smaller than 180° from the angular position in which the first electric signal generation unit 31A is disposed. An angle between the electric signal generation units 31A and 31B is selected within a range from 112.5° to 157.5°, for example, and is about 135° in
The magnetism detection unit 12 includes magnetic sensors 51 and 52. The magnetic sensor 51 is disposed in an angular position greater than 0° and smaller than 180° with respect to the second magnetosensitive part 41B (second electric signal generation unit 31B) in the rotating direction of the rotary shaft SF. The magnetic sensor 52 is disposed in an angular position (about 45°, in
As shown in
Subsequently, operations of the first electric signal generation unit 31A of the present embodiment are described. Hereinafter, the magnetosensitive part 41A and the electric power generation part 42A of the first electric signal generation unit 31A shown in
When the center of the electric signal generation unit 31A is located in the first position 11a to the fourth position 11d in
In the electric signal generation unit 31A of the present embodiment, while the rotary shaft SF rotates one-turn, there are a first timing (a time period with the time point in
For this reason, according to the electric signal generation unit 31A of the present embodiment, the rotations of the magnet 11 and the yoke member 18 switch the section (second timing) in which the magnetic flux lines from the magnet 11 do not pass in the length direction of the magnetosensitive member 47 (see
Also, the side yoke 18S is disposed so as to cover the side surface of the magnet 11 and the magnetic flux lines of the magnet 11 are not leaked outside of the outer surface of the side yoke 18S. Therefore, even when the magnetosensitive member 47 is disposed in close to the outer surface of the side yoke 18S to narrow an interval between the magnetosensitive member 47 and the magnet 11, it is possible to obtain the high-output electric signal from the magnetosensitive member 47. For this reason, in the encoder device EC, the electric signal generation unit 31A can be downsized while obtaining the high-output pulse.
The rectifier stack 62 is a rectifier that performs full-wave rectification on a current (a positive or negative pulse) flowing from the second electric signal generation unit 31B. A first input terminal 62a of the rectifier stack 62 is connected to the terminal 42Ba of the second electric signal generation unit 31B. A second input terminal 62b of the rectifier stack 62 is connected to the terminal 42Bb of the second electric signal generation unit 31B. Aground terminal 62g of the rectifier stack 62 is connected to the ground line GL. An output terminal 62c of the rectifier stack 62 is connected to the control terminal 63a of the regulator 63.
The regulator 63 regulates electric power that is supplied from the battery 32 to the position detection system 1. The regulator 63 may include a switch 64 provided on an electric power supply path between the battery 32 and the position detection system 1. The regulator 63 controls an operation of the switch 64, based on the electric signals generated from the electric signal generation units 31A and 31B. An input terminal 63b of the regulator 63 is connected to the battery 32. An output terminal 63c of the regulator 63 is connected a power supply line PL. A ground terminal 63g of the regulator 63 is connected to the ground line GL. The control terminal 63a of the regulator 63 is an enable terminal, and the regulator 63 keeps a potential of the output terminal 63c to a predetermined voltage in a state where a voltage equal to or higher than a threshold value is applied to the control terminal 63a. An output voltage (predetermined voltage) of the regulator 63 is, for example, 3V when a counter 67 is configured by a CMOS and the like. An operating voltage of a non-volatile memory 68 of the storage unit 14 is set to the same voltage as the predetermined voltage, for example. Note that the predetermined voltage is a voltage necessary for electric power supply, and may be not only a constant voltage value, but also a voltage changing in a stepwise manner.
A first terminal 64a of the switch 64 is connected to the input terminal 63b, and a second terminal 64b is connected to the output terminal 63c. The regulator 63 switches conduction and insulation states between the first terminal 64a and the second terminal 64b of the switch 64 by using the electric signals supplied from the electric signal generation units 31A and 31B to the control terminal 63a, as a control signal (enable signal). For example, the switch 64 includes a switching device such as a MOS, a TFT and the like, the first terminal 64a and the second terminal 64b are a source electrode and a drain electrode, and a gate electrode is connected to the control terminal 63a. The switch 64 is in a state (on state) where the source electrode and the drain electrode can be conductive therebetween, when the gate electrode is charged by the electric signals (electric power) generated from the electric signal generation units 31A and 31B and a potential of the gate electrode becomes equal to or higher than a threshold value. Note that the switch 64 may also be provided outside of the regulator 63, and may be externally attached such as a relay, for example.
Also, for example, at least a part (for example, the multi-turn information detection unit 3) of the position detection system 1 may operate by using electric power obtained by rectifying the electric signals generated in the electric signal generation units 31A and 31B, in a state (for example, an abnormal state and a backup state) where a power supply of a device on which the encoder device EC is mounted is off. The multi-turn information detection unit 3 includes, as the magnetism detection unit 12, the magnetic sensors 51 and 52, and analog comparators 65 and 66. The magnetism detection unit 12 detects the magnetic field formed by the magnet 11 by using the electric power supplied from the battery 32. Also, the multi-turn information detection unit 3 includes a counter 67, as the detection unit 13 shown in
The electric power supply terminal 51p of the magnetic sensor 51 is connected to the power supply line PL. The ground terminal 51g of the magnetic sensor 51 is connected to the ground line GL. An output terminal 51c of the magnetic sensor 51 is connected to an input terminal 65a of the analog comparator 65. In the present embodiment, the output terminal 51c of the magnetic sensor 51 outputs a voltage corresponding to a difference between a potential of the second output terminal 51b shown in
The magnetic sensor 52 and the analog comparator 66 have similar configurations to the magnetic sensor 51 and the analog comparator 65. A power supply terminal 52p of the magnetic sensor 52 is connected to the power supply line PL. A ground terminal 52g of the magnetic sensor 52 is connected to the ground line GL. An output terminal 52c of the magnetic sensor 52 is connected to an input terminal 66a of the analog comparator 66. A power supply terminal 66p of the analog comparator 66 is connected to the power supply line PL. A ground terminal 66g of the analog comparator 66 is connected to the ground line GL. An output terminal 58b of the analog comparator 66 is connected to a second input terminal 67b of the counter 67. The analog comparator 66 outputs an H-level signal from the output terminal when an output voltage of the magnetic sensor 52 is equal to or higher than a threshold value, and outputs an L-level signal from the output terminal 66b when the output voltage of the magnetic sensor 52 is lower than the threshold value.
The counter 67 counts the multi-turn information of the rotary shaft SF by using the electric power supplied from the battery 32. The counter 67 includes, for example, a CMOS logical circuit and the like. The counter 67 operates using the electric power that is supplied via a power supply terminal 67p and a ground terminal 67g. The power supply terminal 67p of the counter 67 is connected to the power supply line PL. The ground terminal 67g of the counter 67 is connected to the ground line GL. The counter 67 performs counting processing by using a voltage that is supplied via the first input terminal 67a, and a voltage that is supplied via the second input terminal 67b, as a control signal.
The non-volatile memory 68 stores at least a part (for example, the multi-turn information) of the rotational position information detected by the detection unit 13 by using the electric power supplied from the battery 32 (performs a writing operation). The non-volatile memory 68 stores a result (multi-turn information) of the counting by the counter 67, as the rotational position information detected by the detection unit 13. A power supply terminal 68p of the non-volatile memory 68 is connected to the power supply line PL. A ground terminal 68g of the storage unit 14 is connected to the ground line GL. The storage unit 14 shown in
In the present embodiment, a capacitor 69 is provided between the rectifier stacks 61 and 62 and the regulator 63. A first electrode 69a of the capacitor 69 is connected to a signal line for connecting the rectifier stacks 61 and 62 and the control terminal 63a of the regulator 63. A second electrode 69b of the capacitor 69 is connected to the ground line GL. The capacitor 69 is a so-called smoothing capacitor, and reduces pulsation to reduce a load of the regulator. A constant of the capacitor 69 is set so that the electric power supply from the battery 32 to the detection unit 13 and the storage unit 14 is kept for a time period in which the rotational position information is detected by the detection unit 13 and the rotational position information is written into the storage unit 14, for example.
Also, the battery 32 includes, for example, a primary battery 36 such as a button-shaped battery and a rechargeable secondary battery 37. The secondary battery 37 is electrically connected to a power supply unit MCE of the motor control unit MC. During at least a part of a time period (for example, a time period in which a main power supply is in an on state) in which the power supply unit MCE of the motor control unit MC can supply the electric power, the electric power is supplied from the power supply unit MCE to the secondary battery 37, and the secondary battery 37 is recharged by the electric power. During a time period (for example, a time period in which a main power supply is in an off state) in which the power supply unit MCE of the motor control unit MC cannot supply the electric power, the supply of the electric power from the power supply unit MCE to the secondary battery 37 is cut off.
Also, the secondary battery 37 may be electrically connected to a transmission path of the electric signals from the electric signal generation units 31A and 31B. In this case, the secondary battery 37 can be recharged by the electric power of the electric signals from the electric signal generation units 31A and 31B. For example, the secondary battery 37 is electrically connected to a circuit between the rectifier stack 61 and the regulator 63. The secondary battery 37 can be recharged by the electric power of the electric signals that are generated from the electric signal generation units 31A and 31B by the rotation of the rotary shaft SF, in a state where the supply of the electric power from the power supply unit MCE is cut off. Note that the secondary battery 37 may also be recharged by the electric power of the electric signals that are generated from the electric signal generation units 31A and 31B as the motor M is driven to rotate the rotary shaft SF.
The encoder device EC in accordance with the present embodiment selects to supply the electric power from which of the primary battery 36 and the secondary battery 37 to the position detection system 1, in a state where the supply of the electric power from an outside is cut off. The electric power supplying system 2 includes a power supply switcher (a power supply selection unit, a selection unit) 38, and the power supply switcher 38 switches (selects) to supply the electric power from which of the primary battery 36 and the secondary battery 37 to the position detection system 1. A first input terminal of the power supply switcher 38 is electrically connected to a positive electrode of the primary battery 36, and a second input terminal of the power supply switcher 38 is electrically connected to the secondary battery 37. An output terminal of the power supply switcher 38 is electrically connected to the input terminal 63b of the regulator 63.
The power supply switcher 38 selects the primary battery 36 or the secondary battery 37, as the battery for supplying the electric power to the position detection system 1, based on a remaining amount of the secondary battery 37, for example. For example, when a remaining amount of the secondary battery 37 is equal to or greater than a threshold value, the power supply switcher 38 supplies the electric power from the secondary battery 37, and does not supply the electric power from the primary battery 36. The threshold value is set, based on electric power that is consumed in the position detection system 1, and is set equal to or higher than the electric power that is to be supplied to the position detection system 1, for example. For example, when the electric power that is consumed in the position detection system 1 can be covered by the electric power that from the secondary battery 37, the power supply switcher 38 supplies the electric power from the secondary battery 37, and does not supply the electric power from the primary battery 36. Also, when the remaining amount of the secondary battery 37 is less than the threshold value, the power supply switcher 38 supplies the electric power from the primary battery 36, and does not supply the electric power from the secondary battery 37. The power supply switcher 38 may also serve as a charger for controlling the recharging of the secondary battery 37, for example, and may determine whether the remaining amount of the secondary battery 37 is equal to or greater than the threshold value by using remaining amount information of the secondary battery 37 that is used for control of the recharging.
The secondary battery 37 is used in a combined manner in this way, so that it is possible to delay the consumption of the primary battery 36. Therefore, the encoder device EC has no maintenance (for example, replacement) of the battery 32 or the maintenance frequency is low. Note that the battery 32 may include at least one of the primary battery 36 and the secondary battery 37. Also, in the above embodiment, the electric power is alternatively supplied from the primary battery 36 or the secondary battery 37. However, the electric power may be supplied from both the primary battery 36 and the secondary battery 37. For example, a processing unit to which the primary battery 36 supplies the electric power and a processing unit to which the secondary battery 37 supplies the electric power may be determined, in accordance with power consumption of each processing unit (for example, the magnetic sensor 51, the counter 67 and the non-volatile memory 68) of the position detection system 1. Note that the secondary battery 37 may be recharged using at least one of the electric power that is supplied from a power supply unit EC2 and the electric power of the electric signals that are generated from the electric signal generation units 31A and 31B.
Subsequently, operations of the electric power supplying system 2 and the multi-turn information detection unit 3 are described.
In “Magnetic field” of
In
When the rotary shaft SF rotates counterclockwise, the first electric signal generation unit 31A outputs the current pulse flowing in the forward direction (“+” of the “first electric signal generation unit”), at the angular positions of 180° and 0° (360°). Also, the first electric signal generation unit 31A outputs the current pulse flowing in the reverse direction (“−” of the “first electric signal generation unit”), at the angular positions of 90° and 270°. The second electric signal generation unit 31B outputs the current pulse flowing in the reverse direction (“−” of the “second electric signal generation unit”), at the angular positions of 135° and 315°. Also, the second electric signal generation unit 31B outputs the current pulse flowing in the forward direction (“−” of the “second electric signal generation unit”), at the angular positions of 45° and 225°. For this reason, the enable signal is switched to a high level at each of the angular positions of 45°, 90°, 135°, 180°, 225°, 270°, 315°, and 0°. Also, the regulator 63 supplies a predetermined voltage to the power supply line PL at each of the angular positions of 45°, 90°, 135°, 180°, 225°, 270°, 315°, and 0°, in a state where the enable signal is held at the high level.
In the present embodiment, the output of the magnetic sensor 51 and the output of the magnetic sensor 52 have a phase difference of 90°, and the detection unit 13 detects the rotational position information by using the phase difference. The output of the magnetic sensor 51 is a positive sine wave in a range from the angular position 22.5° to the angular position 112.5°. In the angle range, the regulator 63 outputs the electric power at the angular positions of 45 and 90°. The magnetic sensor 51 and the analog comparator 65 are driven by the electric power supplied at each of the angular positions of 45° and 90°. A signal (hereinafter, referred to as “A-phase signal”) that is output from the analog comparator 65 is kept at an L-level in a state where the electric power is not supplied, and is an H-level at each of the angular positions of 45 and 90°.
The output of the magnetic sensor 52 is a positive sine wave in a range from the angular position 157.5° to the angular position 247.5°. In the angle range, the regulator 63 outputs the electric power at the angular positions of 180° and 225°. The magnetic sensor 52 and the analog comparator 66 are driven by the electric power supplied at each of the angular positions of 180° and 225°. A signal (hereinafter, referred to as “B-phase signal”) that is output from the analog comparator 66 is kept at an L-level in a state where the electric power is not supplied, and is an H-level at each of the angular positions of 180° and 225°.
Herein, when the A-phase signal supplied to the counter 67 is an H-level (H) and the B-phase signal supplied to the counter 67 is an L-level, a set of the signal levels is denoted as (H, L). In
When one or both of the detected A-phase signal and B-phase signal is an H-level, the counter 67 stores the set of the signal levels in the storage unit 14. When one or both of the A-phase signal and B-phase signal detected next time is an H-level, the counter 67 reads out the set of the previous signal levels from the storage unit 14 and compares the set of the previous signal levels and a set of the current signal levels to determine the rotating direction. For example, when the set of the previous signal levels is (H, H) and the set of the current signal levels is (H, L), since the angular position in the previous detection is 225° and the angular position in the current detection is 270°, it can be seen that it is a counterclockwise direction (forward rotation). When the set of the current signal levels is (H, L) and the set of the previous signal levels is (H, H), the counter 67 supplies an up signal, which indicates that the counter will be counted up, to the storage unit 14. When the up signal from the counter 67 is detected, the storage unit 14 updates the stored multi-turn information to a value increased by 1. In a case of the reverse rotation, since the previous signal levels are (H, H) and the current signal levels are (L, H), the storage unit 14 subtracts “1” from the multi-turn information. In this way, the multi-turn information detection unit 3 in accordance with the present embodiment can detect the multi-turn information while determining the rotating direction of the rotary shaft SF. Also, since the current is intermittently supplied to the magnetic sensors 51 and 52 only for a time period during which the pulse signals are generated from the electric signal generation units 31A and 31B, it is possible to considerably suppress the power consumption of the battery 32, as compared to a case where the current is supplied all the time to the magnetic sensors 51 and 52.
Hereinafter, an example of a manufacturing method of the encoder device EC of the present embodiment is described with reference to a flowchart of
In next step 122, the magnetosensitive part 41A is mounted to an inspection tool (not shown) to inspect whether an electric signal equal to or more than a predetermined standard is obtained from the electric power generation part 42A, for example. The inspection tool is a completed product of the encoder device EC comprising the electric signal generation unit 31A serving as a reference that allows the magnetosensitive part 41A to be taken in an out, for example. The magnetosensitive part 41A that has passed the inspection is used in step 126. In step 124, an assembling jig 44 shown in
In next step 126, the magnetosensitive part 41A is inserted into the through-hole 42Ac of the electric power generation part 42A in the hole portion 44d of the assembling jig 44 in
In step 128 in parallel with or prior to these operations, as shown in
Then, in step 130, the integrated electric power generation part 42A and magnetosensitive part 41A are accommodated in the groove portion 6b of the housing 6. At this time, the two end portions of the magnetosensitive part 41A protruding from both ends of the electric power generation part 42A are accommodated in the notched portions 45Aa and 46Aa of the first and third magnetic bodies 45A and 46A and in the clearance grooves 6c of the housing 6. In next step 132, the electric power generation part 42A is fixed to the housing 6 by adhesion or the like, and both end portions of the coil of the electric power generation part 42A are connected to the terminals 42Aa and 42Ab by soldering or the like. Thereby, the electric signal generation unit 31A is completed.
In step 134, as shown in
In this way, the encoder device EC in accordance with the present embodiment comprises the position detection system 1 (position detection unit) that detects the rotational position information of the rotary shaft SF (moving part) of the motor M (power supplying unit); the magnet 11 that rotates in conjunction with the rotary shaft SF and has a plurality of polarities along the rotating direction (θ direction) of the rotary shaft SF; the electric signal generation unit 31A (electric signal generation unit) that has the magnetosensitive part 41A (magnetosensitive member 47) whose magnetic characteristic is changed by the change in magnetic field associated with movement of the magnet 11 (rotary shaft SF) and the first magnetic body 45A for guiding the magnetic flux lines of the magnet 11 toward the magnetosensitive part 41A, and generates the electric signal, based on the magnetic characteristic of the magnetosensitive part 41A; and the side yoke 18S (a second magnetic body) disposed between the magnet 11 and the magnetosensitive part 41A and provided so as to guide the magnetic flux lines of a part having one polarity of the magnet 11 toward a part having the other polarity of the magnet 11.
According to the present embodiment, a magnetic field component (a component (a noise component) of cancelling a necessary magnetic field component) unnecessary for pulse generation in the electric signal generation unit 31A including magnetic flux lines generated on the side surface of the magnet 11 is returned to the magnet 11 via the side yoke 18S. As a result, the unnecessary magnetic field component does not adversely affect the generation of the magnetic domain wall from one end toward the other end in the length direction of the magnetosensitive part 41A caused by the reversal of the AC magnetic field due to the rotation of the magnet 11. For this reason, even when the magnetosensitive part 41A is disposed near the side yoke 18S (magnet 11) and the electric signal generation unit 31A is downsized, it is possible to effectively generate the high-output pulse (electric signal) with high reliability (stable output) by using the electric signal generation unit 31A through the reversal of the AC magnetic field in the axial direction due to the rotation of the magnet 11, without being affected by the unnecessary magnetic field component. Also, in a case where the encoder device EC comprises the battery 32, it is possible to omit the maintenance (for example, replacement) of the battery 32 or to reduce the maintenance frequency of the battery 32 by using the electric signal effectively generated from the electric signal generation unit 31A.
Also, the present inventors actually measured the pulses generated using the electric signal generation unit 31A of the present embodiment and found out that a stable pulse with a small variation in amplitude was obtained during the rotation of the magnet 11. It is believed that this is because the electric signal generation unit 31A is provided with the neutral section (second timing) where the magnetic field is substantially zero in the magnetosensitive part 41A.
Also, in the encoder device EC, the electric power is supplied from the battery 32 to the multi-turn information detection unit 3 in a short time after the electric signal is generated from the electric signal generation unit 31A, so that the multi-turn information detection unit 3 is dynamically driven (intermittently driven). After the detection and writing of the multi-turn information are over, the power delivery to the multi-turn information detection unit 3 is cut off but the counted value is kept because it is stored in the storage unit 14. The sequence is repeated each time the predetermined position on the magnet 11 passes near the electric signal generation unit 31A, even in a state where the supply of the electric power from the outside is cut off. Also, the multi-turn information stored in the storage unit 14 is read by the motor control unit MC and the like when the motor M starts next time, and is used to calculate an initial position of the rotary shaft SF, and the like. In the encoder device EC, the battery 32 supplies at least a part of the electric power that is consumed in the position detection system 1, in accordance with the electric signal generated from the electric signal generation unit 31A. Therefore, it is possible to increase the lifetime of the battery 32. For this reason, it is possible to omit the maintenance (for example, replacement) of the battery 32 or to reduce the maintenance frequency of the battery 32. For example, when the lifetime of the battery 32 is longer than other parts of the encoder device EC, it may be unnecessary to replace the battery 32.
Note that, when a magnetosensitive wire such as a Wiegand wire is used, the output of the pulse current (electric signal) is obtained from the electric signal generation unit 31A even though the magnet 11 is rotated at extremely low speed. For this reason, for example, in a state where the electric power is not supplied to the motor M, even though the rotary shaft SF (magnet 11) is rotated at extremely low speed, the output of the electric signal generation unit 31A can be used as the electric signal. Note that, as the magnetosensitive wire (magnetosensitive part 41A), an amorphous magnetostrictive wire and the like can also be used.
Also, the manufacturing method of the encoder device EC of the present embodiment comprises step 120 of preparing the magnetosensitive part 41A, the electric power generation part 42A and the first magnetic body 45A; steps 124 and 126 of inserting the electric power generation part 42A into the first hole portion 44d of the assembling jig 44, and inserting the magnetosensitive part 41A into the second hole portion 44e formed in the first hole portion 44d through the electric power generation part 42A; step 126 of fixing the electric power generation part 42A and the magnetosensitive part 41A; and step 132 of fixing the electric power generation part 42A taken out from the assembling jig 44 to the housing 6 disposed on the side surface of the side yoke 18S (a second magnetic body). According to the manufacturing method, since it is possible to fix easily the electric power generation part 42A and the magnetosensitive part 41A with an accurate positional relation in the assembling jig 44, it is possible to efficiently manufacture the electric signal generation unit 31A and the encoder device EC.
Also, a method of incorporating the magnetosensitive part 41A and the electric power generation part 42A into the housing 6 (a mold) for the encoder device EC of the present embodiment is a method of incorporating the magnetosensitive part 41A and the electric power generation part 42A into the housing 6 of the encoder device EC comprising the position detection system 1 (position detection unit) that detects the rotational position information of the rotary shaft SF (moving part), the magnet 11 that rotates in conjunction with the rotary shaft SF and has a plurality of polarities along the rotating direction (θ direction) of the rotary shaft SF, the electric signal generation unit 31A (electric signal generation unit) that has the magnetosensitive part 41A whose magnetic characteristic is changed by the change in magnetic field associated with movement of the magnet 11 (rotary shaft SF), the electric power generation part 42A for generating the electric signal based on the magnetic characteristic of the magnetosensitive part 41A, and the first magnetic body 45A for guiding the magnetic flux lines of the magnet 11 toward the magnetosensitive part 41A, and the side yoke 18S (a second magnetic body) disposed between the magnet 11 and the magnetosensitive part 41A and provided so as to guide the magnetic flux lines of a part having one polarity of the magnet 11 toward a part having the other polarity of the magnet 11. This method comprises steps 124 and 126 of inserting the electric power generation part 42A into the first hole portion 44d of the assembling jig 44, and inserting the magnetosensitive part 31A into the second hole portion 44e formed in the first hole portion 44d through the electric power generation part 42A; step 126 of fixing the electric power generation part 42A and the magnetosensitive part 41A; and step 132 of fixing the electric power generation part 42A taken out from the assembling jig 44 to the housing 6 disposed on the side surface of the side yoke 18S (a second magnetic body). According to the incorporating method, since it is possible to fix easily the electric power generation part 42A and the magnetosensitive part 41A with an accurate positional relation in the assembling jig 44, it is possible to efficiently manufacture the electric signal generation unit 31A.
Note that, the present embodiment can be modified as follows. In the present embodiment, the two electric signal generation units 31A and 31B are provided. However, the encoder device EC may comprise only one electric signal generation unit 31A. Also, the encoder device EC may comprise three or more electric signal generation units. Also, in other embodiments and modified embodiments thereof to be described later, one electric signal generation unit will be described. However, a plurality of electric signal generation units may also be provided.
Also, in the manufacturing method of the encoder device EC or the method of incorporating the magnetosensitive part 41A and the electric power generation part 42A into the housing 6, as shown in a modified embodiment in
Also, as shown in a modified embodiment of
A second embodiment is described with reference to
The magnet 11A includes a first set of magnets on an outer periphery-side where four magnets of an N pole 16E, an S pole 16F, an N pole 16G, and an S pole 16H each having the same cuboid shape are disposed in an annular shape with intervals of 90° in the rotating direction or the circumferential direction (θ direction) of the rotary shaft SF and a second set of magnets consisting of magnets of an S pole 17E, an N pole 17F, an S pole 17G, and an N pole 17H each having the same shape and disposed in an annular shape so as to closely contact inner surfaces of the first set of magnets. The first set of magnets on the outer periphery-side and the second set of magnets on the inner periphery-side are offset by 180° in phase. In this way, the magnet 11A has the plurality of (four, in this example) polarities (the N pole 16E, the S pole 16F, and the like) along the θ direction. Also, in the magnet 11A, a direction orthogonal to the rotating direction (moving direction), i.e., in the present embodiment, the radial direction AD2 with respect to the rotary shaft SF is regarded as a width direction of the magnet 11A. The magnet 11A has polarities (the N pole 16E, the S pole 17E and the like) that are also different from each other in the width direction (radial direction AD2) orthogonal to the θ direction, on the front surface or back surface. As the magnet 11A, for example, annular-shaped permanent magnets magnetized to have a plurality of pairs of polarities (for example, 4 pairs) in the θ direction may be used. Also, for example, a member consisting of the N pole 16E and the S pole 17E may be regarded as one magnetic element magnetized to have two magnetic poles. In the present embodiment, a magnetization direction (orientation direction) of the magnet 11A is the radial direction AD2.
Also, the yoke member 18A formed of a ferromagnetic material has an annular-shaped back yoke 18AB that has an opening 18Aa and the magnet 11A is placed thereon, and a cylindrical side yoke 18AS provided so as to surround the magnet 11A on the back yoke 18AB. The side yoke 18AS of the present embodiment is provided with a plurality of (four, in this example) openings 18Ab, 18Ac, 18Ad and 18Ae at the same positions as parts of polarities (the N pole 16E, the S pole 16F and the like) different from each other in the circumferential direction of the magnet 11A with the same angle intervals as angle intervals θT of the parts having polarities different from each other. A width of each of the openings 18Ab to 18Ae is substantially the same as a width of each of the magnets of the N pole 16E to the S pole 16H facing the side surface of the magnet 11 in a direction (radial direction) orthogonal to the rotary shaft SF.
In the present embodiment, the magnetosensitive member 47 of the electric signal generation unit 31C is disposed so that the length direction LD1 is parallel to the circumferential direction of the rotary shaft SF in the vicinity of the outer surface of the side yoke 18AS. For this reason, the electric signal generation unit 31C can be made small. Also in the present embodiment, since the magnetic flux lines of the magnet 11A are not leaked toward the magnetosensitive member 47 by the side yoke 18AS, the direction of the length direction LD1 of the magnetosensitive member 47 is arbitrary.
Also, a tip end portion 45Cb of a first magnetic body 45C on one end-side of the magnetosensitive member 47 is disposed near an outer surface of the side yoke 18AS so as to be substantially parallel to the outer surface. Also, a tip end portion 46Cb of a third magnetic body 46C on the other end-side of the magnetosensitive member 47 is disposed near the outer surface of the side yoke 18AS so as to be substantially parallel to the outer surface. The tip end portion 45Cb of the first magnetic body 45C and the tip end portion 46Cb of the third magnetic body 46C are line-symmetrically formed so as to expand in a V-shape, and an angle interval between the tip end portion 45Cb and the tip end portion 46Cb is substantially the same as the angle intervals θT of the openings 18Ab to 18Ae of the side yoke 18AS (i.e., the angle intervals of the parts having polarities different from each other in the magnet 11A). In other words, the tip end portion 45Cb of the first magnetic body 45C and the tip end portion 46Cb of the third magnetic body 46C are one pair, and the tip end portions 45Cb and 46Cb are formed in a direction away from each other (an outward direction) with respect to a reference line of the line symmetry. The other configurations are similar to the first embodiment.
In the present embodiment, as shown in
Also,
Also in the electric signal generation unit 31C of the present embodiment, while the rotary shaft SF rotates one-turn, there is a first timing (a time period based on the time point in
For this reason, according to the electric signal generation unit 31C of the present embodiment, the rotations of the magnet 11A and the yoke member 18A switch the section (second timing) in which the magnetic flux lines from the magnet 11A do not pass in the length direction of the magnetosensitive member 47 (see
Also, for a time period based on the second timing, the magnetic flux lines of the magnet 11A are not leaked outside of the outer surface of the side yoke 18AS. Therefore, even when the magnetosensitive member 47 is disposed in close to the outer surface of the side yoke 18AS to narrow an interval between the magnetosensitive member 47 and the magnet 11A, it is possible to obtain a high-output electric signal from the magnetosensitive member 47. For this reason, the electric signal generation unit 31C can be downsized while obtaining the high-output pulse.
A third embodiment is described with reference to
The magnet 11B is a combination of a plurality of (four, in
In the present embodiment, each main body part (a part including the magnetosensitive member 47) of the electric signal generation unit 31D is provided without contacting the magnet 11B with going away from the magnet 11B in a radial direction orthogonal to the rotary shaft SF or in a direction parallel to the radial direction. The electric signal generation unit 31D includes the magnetosensitive member 47, the first magnetic body 45A, and the third magnetic body 46A. The first and third magnetic bodies 45A and 46A are provided to override the side yoke 18S between the front surface of the magnet 11B and both ends of the magnetosensitive part 41A. Since the length direction of the magnetosensitive member 47 is, for example, substantially parallel to the circumferential direction of the rotary shaft SF, the electric signal generation unit 31D can be downsized but the length direction is arbitrary. Also, as shown in
As shown in
Also, as shown in
A fourth embodiment is described with reference to a flowchart of
Hereinafter, examples of a manufacturing method of the encoder device of the present embodiment and a method of incorporating the magnetosensitive part 41A and the electric power generation part 42A into the housing 6 (a mold) for the encoder device are described. First, in step 128 subsequently to step 120 (preparation process) of
In next step 154, as shown in
Subsequently, in step 160, as shown in
Note that, when the plurality of electric signal generation units is provided, like the above embodiments, the electric power that is output from the electric signal generation unit 31A may also be used as a detection signal for detecting the multi-turn information or may be used for supply to a detection system and the like. Note that, in the first embodiment, the magnet 11 is an eight-pole magnet having four poles in the circumferential direction and two poles in the thickness direction. However, the present invention is not limited thereto, and can be changed as appropriate. For example, the number of poles of the magnet 11 in the circumferential direction may be two or may be four or more.
Note that in the above embodiments, the position detection system 1 detects the rotational position information of the rotary shaft SF (moving part), as the position information but may also detect at least one of a position in a predetermined direction, a speed and an acceleration, as the position information. The encoder device EC may comprise a rotary encoder or a linear encoder. Also, the encoder device EC may have a configuration where the electric power generation part and the detection unit are provided on the rotary shaft SF and the magnet 11 is provided outside the moving body (for example, the rotary shaft SF), so that the relative positions of the magnet and the detection unit are changed with movement of the moving part. Also, the position detection system 1 may not detect the multi-turn information of the rotary shaft SF, and may detect the multi-turn information by an external processing unit of the position detection system 1.
In the above embodiments, the electric signal generation units 31A and 31B generate the electric power (electric signal) when a predetermined positional relation with the magnet 11 is satisfied. The position detection system 1 may also detect the position information of the moving part (for example, the rotary shaft SF) by using, as the detection signal, the change in electric power (signal) generated from the electric signal generation units 31A and 31B. For example, the electric signal generation units 31A and 31B may be used as sensors, and the position detection system 1 may detect the position information of the moving part by the electric signal generation units 31A and 31B and one or more sensors (for example, the magnetic sensor and the light-receiving sensor). Also, when the number of the electric signal generation units is two or more, the position detection system 1 may detect the position information by using the two or more electric signal generation units, as sensors. For example, the position detection system 1 may detect the position information of the moving part by using the two or more electric signal generation units, as sensors, without using the magnetic sensors, or may detect the position information of the moving part without using the light-receiving sensor.
Also, the electric signal generation units 31A and 31B may supply at least a part of electric power that is consumed in the position detection system 1. For example, the electric signal generation units 31A and 31B may supply the electric power to a processing unit of the position detection system 1, which has relatively small power consumption. Also, the electric power supply system 2 may not supply the electric power to some of the position detection system 1. For example, the electric power supplying system 2 may intermittently supply the electric power to the detection unit 13 and may not supply the electric power to the storage unit 14. In this case, the electric power may be supplied intermittently or continuously to the storage unit 14 from a power supply, a battery and the like provided outside the electric power supplying system 2. The electric power generation part may generate the electric power by a phenomenon other than the large Barkhausen jump, and for example, may not supply the electric power to the moving part (for example, the rotary shaft SF) and some of the position detection system 1. For example, the electric power supplying system 2 may intermittently supply the electric power to the detection unit 13 and may not supply the electric power to the storage unit 14. In this case, the electric power may be supplied intermittently or continuously to the storage unit 14 from a power supply, a battery and the like provided outside the electric power supplying system 2. The electric power generation part may generate the electric power by a phenomenon other than the large Barkhausen jump, and for example, may generate the electric power by electromagnetic induction associated with the change in magnetic field due to movement of the moving part (for example, the rotary shaft SF). The storage unit in which the detection result of the detection unit is stored may be provided outside the position detection system 1 or may be provided outside the encoder device EC.
[Drive Device]
An example of the drive device is described.
The rotary shaft SF has a load-side end portion SFa, and an anti-load-side end portion SFb. The load-side end portion SFa is connected to another power transmission mechanism such as a decelerator. A scale S is fixed to the anti-load-side end portion SFb via a fixing part. The scale S is fixed, and the encoder device EC is attached. The encoder device EC is an encoder device in accordance with the embodiments, the modified embodiments or combinations thereof. As an example, the encoder device comprises an optical detection unit that irradiates the scale S with illumination light from the light-emitting element 21Aa, and detects the light from the scale S by the light-receiving sensors 21Ab and 21Ac to detect the angle information.
In the drive device MTR, the motor control unit MC shown in
[Stage Device]
An example of a stage device is described.
In the stage device STG, when the drive device MTR is driven to rotate the rotary shaft SF, the rotation is transmitted to the rotational table ST. At this time, the encoder device EC detects the angular position of the rotary shaft SF, and the like. Therefore, it is possible to detect an angular position of the rotational table ST by using an output from the encoder device EC. Note that, a decelerator and the like may be disposed between the load-side end portion SFa of the drive device MTR and the rotational table ST.
Since the replacement of the battery of the encoder device EC is not required or is less required, the stage device STG can reduce the maintenance cost. Note that, the stage device STG can be applied to a rotational table provided in a machine tool such as a lathe, for example.
[Robot Device]
An example of a robot device is described.
The first arm AR1 includes an arm part 101, a bearing 101a, and a bearing 101b. The second arm AR2 includes an arm part 102 and a connection part 102a. The connection part 102a is disposed between the bearing 101a and the bearing 101b at the joint part JT. The connection part 102a is provided integrally with the rotary shaft SF2. The rotary shaft SF2 is inserted into both the bearing 101a and the bearing 101b at the joint part JT. An end portion on a side of the rotary shaft SF2, which is inserted into the bearing 101b, is connected to a decelerator RG through the bearing 101b.
The decelerator RG is connected to the drive device MTR, and decelerates rotation of the drive device MTR to 1/100 or the like, for example, and transmits the same to the rotary shaft SF2. Although not shown and described in
In the robot device RBT, when the drive device MTR is driven to rotate the rotary shaft SF, the rotation is transmitted to the rotary shaft SF2 via the decelerator RG. The connection part 102a is integrally rotated by the rotation of the rotary shaft SF2, so that the second arm AR2 rotates with respect to the first arm AR1. At this time, the encoder device EC detects an angular position of the rotary shaft SF, and the like. Therefore, it is possible to detect an angular position of the second arm AR2 by using an output from the encoder device EC.
Since the replacement of the battery of the encoder device EC is not required or is less required, the robot device RBT can reduce the maintenance cost. Note that, the robot device RBT is not limited to the above configuration, and the drive device MTR can be applied to a variety of robot devices having a joint.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2018-061036 | Mar 2018 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2019/012280 | 3/22/2019 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2019/188859 | 10/3/2019 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 8655615 | Mehnert et al. | Feb 2014 | B2 |
| 9200925 | Mehnert et al. | Dec 2015 | B2 |
| 20100213927 | Mehnert et al. | Aug 2010 | A1 |
| 20110184691 | Mehnert et al. | Jul 2011 | A1 |
| 20140067301 | Mehnert | Mar 2014 | A1 |
| Number | Date | Country |
|---|---|---|
| 101821591 | Sep 2010 | CN |
| 106537093 | Mar 2017 | CN |
| S57-46816 | Mar 1982 | JP |
| H08-136558 | May 1996 | JP |
| 2000-161989 | Jun 2000 | JP |
| 2000161989 | Jun 2000 | JP |
| 2001-133286 | May 2001 | JP |
| 2001-343207 | Dec 2001 | JP |
| 2005-114609 | Apr 2005 | JP |
| 2018-36138 | Mar 2018 | JP |
| 201836138 | Mar 2018 | JP |
| Entry |
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| Number | Date | Country | |
|---|---|---|---|
| 20210109122 A1 | Apr 2021 | US |
