1. A harmonic absolute value encoder, comprising: the device comprises a shell, a driving shaft (1), a single-circle detection part (2), a multi-circle detection part (3) and a harmonic gear part (4);

the harmonic gear part (4) is arranged on the shell, the driving shaft (1) is rotatably arranged on the shell, and the driving shaft (1) is in transmission connection with an input shaft of the harmonic gear part (4); the single-circle detection part (2) comprises a first rotating part (21) which rotates synchronously with the driving shaft (1) and a first PCB (22) used for detecting the rotating angle of the first rotating part (21); the multi-turn detection portion (3) includes a second turning portion that rotates in synchronization with the output shaft of the harmonic gear portion (4) and a second PCB (31) for detecting the rotation angle of the second turning portion.

2. The harmonic absolute value encoder according to claim 1, wherein the first rotating section (21) comprises a rotator which is coaxially provided with the driving shaft (1) and rotates in synchronization and a permanent magnet provided on the rotator; and a Hall sensor is arranged on the first PCB (22).

3. The harmonic absolute value encoder according to claim 1, wherein the second rotating portion is a rotor (32) coaxially provided on the output shaft of the harmonic gear portion (4) and rotating in synchronization with the output shaft of the harmonic gear portion (4); the second PCB (31) is used for detecting the rotation angle of the rotor (32).

4. The harmonic absolute value encoder according to claim 3, wherein the rotor (32) is an annular structure coaxially arranged with the drive shaft (1) and having a plurality of tooth gaps (320) uniformly distributed along the outer circumference.

5. The harmonic absolute value encoder according to claim 1, wherein the first PCB (22) and the second PCB (31) are stationary relative to the housing, and wherein a projection of the first PCB (22) onto a first plane perpendicular to the axial direction of the driveshaft (1) and a projection of the second PCB (31) onto the first plane are located within concentric circles of the harmonic gear portion (4).

6. The harmonic absolute value encoder according to claim 5, wherein the first PCB (22) and the second PCB (31) are located on both sides of the harmonic gear part (4).

7. The harmonic absolute value encoder according to claim 6, wherein the first PCB (22) is circular and the second PCB (31) is annular and fits over the drive shaft (1).

8. The harmonic absolute value encoder according to claim 1, further comprising a processor connected to the first PCB (22) and the second PCB (31), respectively, the first PCB (22) being configured to detect a rotation angle a1 of the first rotating portion (21) with respect to an initial position; the second PCB (31) is used for detecting the rotation angle b1 of the rotor (32); the processor is used for calculating the number of rotation turns c1 of the driving shaft (1) by combining the transmission ratio and the rotation angle b1 of the harmonic gear part (4), and the processor is also used for calculating the absolute rotation angle K of the driving shaft (1), wherein the K is a1+ c1 multiplied by 360.

Background

The existing multi-turn absolute value encoder records the number of turns of a main shaft by adopting a multi-stage gear and optical signal mode. Mainly comprises a hollow gear and a light emitting and receiving device.

The main shaft records the single-circle angle through the Hall principle.

When recording multiple circles, the multistage gear pair transmission is utilized to combine with the photoelectric transmitting plate and the photoelectric receiving plate, the through hole part and the non-through hole part on the gear are used for reading the through and non-through holes of the photoelectric signals to determine the positions of four quadrants of the gear, so that the rotation number of circles of the driving shaft is calculated. Meanwhile, software programming is complicated, the requirement on the precision of a mechanical structure is high, and due to the fact that gaps cannot be eliminated among gears, measurement precision is delayed during forward and reverse rotation, and software correction is needed.

Disclosure of Invention

In order to overcome the defects of complex structure and low accuracy of the multi-turn encoder in the prior art, the invention provides a harmonic absolute value encoder.

The invention adopts the following technical scheme:

a harmonic absolute value encoder comprising: the device comprises a shell, a driving shaft, a multi-circle detection part, a single-circle detection part and a harmonic gear part;

the harmonic gear part is arranged on the shell, the driving shaft is rotationally arranged on the shell, and the driving shaft is in transmission connection with the input shaft of the harmonic gear part; the single-circle detection part comprises a first rotating part and a first PCB, wherein the first rotating part rotates synchronously with the driving shaft, and the first PCB is used for detecting the rotating angle of the first rotating part; the multi-turn detection portion includes a second turning portion that rotates in synchronization with the output shaft of the harmonic gear portion and a second PCB for detecting a rotation angle of the second turning portion.

Preferably, the first rotating part comprises a rotating body which is coaxial with the driving shaft and rotates synchronously and a permanent magnet arranged on the rotating body; and the first PCB is provided with a Hall sensor.

Preferably, the second rotating portion is a rotor coaxially disposed on the output shaft of the harmonic gear portion and rotating synchronously with the output shaft of the harmonic gear portion; the second PCB is used for detecting the rotation angle of the rotor.

Preferably, the rotor is an annular structure which is coaxial with the driving shaft and is uniformly distributed with a plurality of tooth gaps along the periphery.

Preferably, the first PCB and the second PCB are both stationary relative to the housing, and a projection of the first PCB onto a first plane perpendicular to the axial direction of the driving shaft and a projection of the second PCB onto the first plane are both located within concentric circles of the harmonic gear portion.

Preferably, the first PCB and the second PCB are located at both sides of the harmonic gear part.

Preferably, the first PCB is circular, and the second PCB is annular and is sleeved on the driving shaft.

Preferably, the device further comprises a processor, the processor is respectively connected with the first PCB and the second PCB, and the first PCB is used for detecting the rotation angle a1 of the first rotating part relative to the initial position; the second PCB is used for detecting the rotation angle b1 of the rotor; the processor is used for calculating the number of rotation turns c1 of the driving shaft by combining the transmission ratio of the harmonic gear part and the rotation angle b1, and the processor is also used for calculating the absolute rotation angle K of the driving shaft, wherein K is a1+ c1 multiplied by 360.

The invention has the advantages that:

(1) the rotation angle of the first rotating part is detected through the first PCB, so that the detection of the rotation angle of a single circle of the driving shaft is realized; the output shaft of the harmonic gear part and the second rotating part synchronously rotate, so that the second PCB monitors the rotating angle of the output shaft of the harmonic gear part; big drive ratio can be realized to harmonic gear portion, has realized converting the big stroke angle of driving shaft into the little stroke angle of second rotation portion through harmonic gear portion to the realization converts the detection of the number of revolutions of driving shaft into the detection of second rotation portion rotation angle, thereby realizes the detection to the absolute rotation angle of driving shaft through the combination of the number of revolutions of driving shaft and the single circle rotation angle of the driving shaft that first PCB detected, realizes the absolute coding function.

(2) In the single-circle detection part, the rotating angle of the permanent magnet relative to the initial position is monitored in real time through the magnetic induction of the Hall sensor on the permanent magnet, so that the rotating angle of the driving shaft is obtained, and the detectable precision and the real-time property are improved.

(3) The detection of the absolute rotation angle of the driving shaft is converted into the detection of the number of rotation turns by the transmission ratio conversion of the harmonic gear part, and further converted into the detection of the absolute rotation angle of the second rotating part, so that the second rotating part can be realized in various ways.

(4) Through the regularity to first PCB and second PCB for casing inner structure is compacter, is favorable to the structural design of casing, improves the aesthetic property and the human mechanics adaptability of this harmonic absolute value encoder.

(5) The distance between the two PCBs is prolonged, so that the electromagnetic signal interference of the two PCBs is avoided, the concentration of heat dissipation parts is avoided, and the temperature inside the shell is reduced.

(6) The number of turns recorded by the harmonic absolute value encoder provided by the invention is determined by the transmission ratio of the harmonic gear part, and the harmonic gear part has a large transmission ratio, so that the harmonic absolute value encoder is beneficial to simplifying the transmission stages. Compared with the traditional multi-gear photoelectric encoder, the harmonic absolute value encoder has the advantages of higher precision, smaller volume and higher installation and use environment adaptability.

Drawings

Fig. 1 is a structural diagram of a harmonic multi-turn encoder.

The figure is as follows: 1. a drive shaft; 2. a single-turn detection section; 21. a first rotating section; 22. a first PCB; 3. a multi-turn detection section; 31. a second PCB; 32. a rotor; 4. a harmonic gear portion; 41. a rigid gear; 42. an elliptical bearing; 43. a flexible gear.

Detailed Description

The harmonic absolute value encoder provided by the present embodiment includes: the device comprises a shell, a driving shaft 1, a single-circle detection part 2, a multi-circle detection part 3 and a harmonic gear part 4.

The harmonic gear part 4 is arranged on the shell, the driving shaft 1 is rotatably arranged on the shell, and the driving shaft 1 is in transmission connection with the input shaft of the harmonic gear part 4. Specifically, in the present embodiment, the harmonic gear portion 4 is of a conventional structure, and is composed of a rigid ring 41, an elliptical bearing 42, and a flexspline 43. The ring gear 41 of the harmonic gear portion 4 is fixedly connected to the housing, the elliptical bearing 42 serves as an input shaft of the harmonic gear portion 4, and the flexspline 43 serves as an output shaft of the harmonic gear portion 4.

The single-turn detecting part 2 includes a first rotating part 21 rotating in synchronization with the driving shaft 1 and a first PCB22 for detecting a rotation angle of the first rotating part 21. In this way, since the first turning part 21 turns in synchronization with the main shaft 1, the detection of the rotation angle of the first turning part 21 by the first PCB22 realizes the detection of the rotation angle of the main shaft 1 by one turn.

The multi-turn detection portion 3 includes a second turning portion that rotates in synchronization with the output shaft of the harmonic gear portion 4 and a second PCB31 for detecting the rotation angle of the second turning portion. In this way, the output shaft of the harmonic gear portion 4 and the second rotating portion rotate synchronously, and the second PCB31 monitors the rotation angle of the output shaft of the harmonic gear portion 4.

Big drive ratio can be realized to harmonic gear portion 4, has realized converting the big stroke angle of driving shaft 1 into the little stroke angle of second rotation portion through harmonic gear portion 4 to the detection that the detection of the number of revolutions of driving shaft 1 converts the detection of second rotation portion rotation angle into, thereby through the combination of the number of revolutions of driving shaft 1 and the single circle rotation angle of driving shaft 1 that first PCB22 detected, realizes the detection to the absolute rotation angle of driving shaft 1, realizes the absolute coding function.

Specifically, in the present embodiment, the first rotating portion 21 includes a rotator that is coaxially disposed with the driving shaft 1 and rotates synchronously, and a permanent magnet disposed on the rotator; and a Hall sensor is arranged on the first PCB22, so that the rotating angle of the permanent magnet relative to the initial position is monitored in real time through the magnetic induction of the Hall sensor on the permanent magnet, and the rotating angle of the driving shaft 1 is obtained. Specifically, in order to improve the detection accuracy, the permanent magnet is disposed off the axis of the drive shaft 1. In the present embodiment, the rotating body is implemented as a first coupling in transmission connection with the driving shaft 1, and the permanent magnet is disposed on the outer wall of the first coupling.

In the present embodiment, the second rotating portion is a rotor 32 coaxially provided on the output shaft of the harmonic gear portion 4 and rotating in synchronization with the output shaft of the harmonic gear portion 4. The second PCB31 is used to detect the rotation angle of the rotor 32, thereby enabling detection of the rotation angle of the output shaft of the harmonic gear portion 4. Specifically, the rotor 32 is an annular structure which is coaxially arranged with the driving shaft 1 and is uniformly distributed with a plurality of tooth gaps 320 along the periphery. Specifically, in the present embodiment, the rotor 32 is freely sleeved on the driving shaft 1, and the rotor 32 is in transmission connection with the output shaft of the harmonic gear part 4 through the second coupling.

In another embodiment of the multi-turn detection part 3, the second rotation part may also be implemented as a link provided on the output shaft of the harmonic gear part 4 and a permanent magnet provided on the link, and the second PCB31 detects a change in the magnetic field of the permanent magnet on the link through a hall sensor, thereby detecting the rotation angle of the output shaft of the harmonic gear part 4. At this time, the detection method of the second PCB31 is the same as that of the first PCB22, and the detection of the rotation angles of different objects is realized only by the different installation positions of the corresponding permanent magnets, thereby respectively realizing the detection of the single rotation angle and the number of rotations of the driving shaft 1.

In this embodiment, the first PCB22 and the second PCB31 are stationary relative to the housing, and specifically, the first PCB22 and the second PCB31 are both fixedly disposed on the housing. The projection of the first PCB22 on the first plane perpendicular to the axial direction of the drive shaft 1 and the projection of the second PCB31 on the first plane are both located within the concentric circles of the harmonic gear portion 4. Thus, in the embodiment, the inner structure of the shell is more compact through the regularity of the first PCB22 and the second PCB31, the structural design of the shell is facilitated, and the attractiveness and the human body mechanical adaptability of the harmonic absolute value encoder are improved.

In this embodiment, the first PCB22 and the second PCB31 are located at two sides of the harmonic gear portion 4 to extend the distance between the two PCBs, thereby avoiding the electromagnetic signal interference of the two PCBs, avoiding the concentration of the heat dissipation member, and being beneficial to reducing the temperature inside the housing.

In this embodiment, the first PCB22 is circular, and the second PCB31 is annular and is sleeved on the driving shaft 1, so that the compactness of the inner structures of the PCB and the casing is further improved.

In this embodiment, the device further includes a processor, the processor is respectively connected to the first PCB22 and the second PCB31, and the first PCB22 is configured to detect a rotation angle a1 of the first rotating portion 21 with respect to the initial position; the second PCB31 is used for detecting the rotation angle b1 of the rotor 32; the processor is used for calculating the number of rotation turns c1 of the driving shaft 1 by combining the transmission ratio and the rotation angle b1 of the harmonic gear part 4, and is also used for calculating the absolute rotation angle K of the driving shaft 1, wherein K is a1+ c1 multiplied by 360. In this embodiment, the calculation of the absolute rotation angle K may be implemented by directly using an existing processor and combining with an existing control logic, which is not described herein again.

The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.