公开(公告)号：US08368392B2

公开(公告)日：2013-02-05

申请号：US12596009

申请日：2007-04-24

申请人： Kunio Miyashita ,  Junji Koyama

发明人： Kunio Miyashita ,  Muneo Mitamura ,  Junji Koyama

IPC分类号： G01B7/30

CPC分类号： G01D5/145 ,  G01D5/2497

摘要： A magnetic encoder includes a multi-pole magnetic detecting unit having a multi-pole magnet. In the multi-pole magnetic detecting unit, first and second magnetic detecting elements that output sinusoidal signals having a 90° phase difference are arranged apart from third and fourth magnetic detecting elements at a mechanical angle of 180° . The first and third magnetic detecting elements are disposed at the same position represented by an electrical angle and output sinusoidal signals of a same phase. The second and fourth magnetic detecting elements are arranged at the same position represented by an electrical angle and output sinusoidal signals of a same phase. A sum signal of the output signals of the first and third magnetic detecting elements and that of the output signals of the second and fourth magnetic detecting elements are obtained, thereby eliminating or remarkably reducing error components of detection signals of the first to fourth magnetic detecting elements caused by the magnetic flux of a two-pole magnet and those of the detection signals caused by rotational run out of the multi-pole magnet. A rotational angle can be detected with high accuracy.

摘要翻译： 磁编码器包括具有多极磁体的多极磁检测单元。 在多极磁检测单元中，输出具有90°相位差的正弦信号的第一和第二磁检测元件与第三和第四磁检测元件以机械角度180°分开。 第一和第三磁检测元件设置在由相同相位的电角度和输出正弦信号表示的相同位置处。 第二和第四磁检测元件布置在由电角度表示的相同位置处，并输出相同相位的正弦信号。 获得第一和第三磁检测元件的输出信号和第二和第四磁检测元件的输出信号的和信号，从而消除或显着地减少第一至第四磁检测元件的检测信号的误差分量 这是由两极磁铁的磁通量引起的，以及由多极磁铁的旋转耗尽引起的检测信号。 可以高精度地检测旋转角度。

公开(公告)号：US08159096B2

公开(公告)日：2012-04-17

申请号：US12602892

申请日：2007-06-22

申请人： Shunichi Tezuka ,  Junji Koyama ,  Kunio Miyashita

发明人： Shunichi Tezuka ,  Junji Koyama ,  Kunio Miyashita

IPC分类号： H02K11/00

CPC分类号： G01D5/145 ,  H02K5/1732 ,  H02K11/215

摘要： A magnetic absolute sensor for a geared motor comprises a dipole magnet and hall elements. The dipole magnet is fixed to a hollow portion of a hollow rotor shaft. A bracket attached to an end plate of a motor housing is coaxially inserted from the rear end side of the hollow portion. The dipole magnet is inserted from the front side in a cylindrical portion of the bracket. The hall elements are arranged at an interval of 90 degree on the circular inner periphery surface of the cylindrical portion. The hall elements face the circular outer periphery surface of the dipole magnet with a fixed gap therebetween. It is not necessary to increase a motor shaft length in order to incorporate the magnetic absolute sensor. The flux of a motor driven magnet is blocked by the hollow rotor shaft and the hall elements are not adversely affected.

摘要翻译： 用于齿轮电动机的磁绝对传感器包括偶极子磁体和霍尔元件。 偶极子磁体固定在空心转子轴的中空部分。 从中空部的后端侧同轴地插入安装在电动机壳体的端板上的支架。 偶极磁体从前侧插入支架的圆柱形部分。 霍尔元件在圆筒部的圆形内周面上以90度的间隔配置。 霍尔元件面对偶极子磁体的圆形外周表面，其间具有固定的间隙。 为了并入磁绝对传感器，不需要增加电机轴长度。 电机驱动磁体的磁通被空心转子轴阻挡，霍尔元件不会受到不利影响。

公开(公告)号：US07994749B2

公开(公告)日：2011-08-09

申请号：US11992810

申请日：2006-08-08

申请人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

发明人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

IPC分类号： G05B1/06

CPC分类号： G01D5/2451 ,  G01D5/145

摘要： A multiple-rotation absolute-value encoder of a geared motor, wherein the geared motor (10) reduces the rotational speed of a motor shaft (12) and takes it out from a gear shaft (14) to drive a machine device (15) in an operating range corresponding to two rotations of the gear shaft (14). The multiple-rotation absolute-value encoder (20) fitted to the geared motor (10) is made up of a gear shaft absolute value encoder (30) for detecting the absolute position of the gear shaft (14) and a load side absolute value encoder (50) having a two-pole magnet (51) and a magnetic sensor (52) rotating at a rotational speed reduced to half the rotational speed of the gear shaft (14) through the magnetic gear (40).

摘要翻译： 一种齿轮传动马达的多转绝对值编码器，其中，所述齿轮传动马达（10）降低马达轴（12）的旋转速度并将其从齿轮轴（14）中取出以驱动机械装置（15） 在对应于齿轮轴（14）的两个旋转的操作范围内。 装配于齿轮传动电动机（10）的多转绝对值编码器（20）由用于检测齿轮轴（14）的绝对位置的齿轮轴绝对值编码器（30）和负载侧绝对值 编码器（50）具有通过磁齿轮（40）以减速到齿轮轴（14）的一半转速的旋转速度旋转的两极磁体（51）和磁传感器（52）。

公开(公告)号：US20120068694A1

公开(公告)日：2012-03-22

申请号：US12596006

申请日：2007-04-24

申请人： Muneo Mitamura ,  Kunio Miyashita ,  Junji Koyama

发明人： Muneo Mitamura ,  Kunio Miyashita ,  Junji Koyama

IPC分类号： G01B7/30

CPC分类号： G01D5/2497 ,  G01D5/145

摘要： Before detecting a mechanical angular absolute position θabs of a rotating shaft (4) within one turn using a two-pole absolute value encoder (2) and a multi-pole absolute value encoder (3) having Pp (Pp: an integer of 3 or more) pole pairs, the rotating shaft (4) is rotated to measure a temporary absolute value θelt of the multi-pole absolute value encoder (3) in relation to each absolute value θt of the two-pole absolute value encoder (2), and a temporary pole-pair number (Nx) for a multi-pole magnet is assigned to each absolute value θt. In actual detecting, an absolute value θti of the two-pole absolute value encoder and an absolute value θelr of the multi-pole absolute value encoder are measured, the temporary pole-pair number (Nx) assigned to the absolute value θti is corrected on the basis of an absolute value θelti of the multi-pole absolute value encoder assigned to the absolute value θti and the measured absolute value θelr, thus calculating a pole-pair number (Nr). The absolute position θabs is calculated using an expression of (Nr×θelp+θelr)/Pp with a mechanical angle θelp corresponding to an electrical angle of one period of an output signal of the multi-pole absolute value encoder.

摘要翻译： 在使用两极绝对值编码器（2）和具有Pp（Pp：的整数的多极绝对值编码器（3））检测一圈内的旋转轴（4）的机械角度绝对位置和abs之前， 3个或更多个）极对，旋转轴（4）旋转以测量多极绝对值编码器（3）的临时绝对值和等于两极绝对值的绝对值的绝对值 t = 0，对于多极磁铁的数值编码器（2）和临时极对数（Nx）分配给每个绝对值。 在实际检测中，测量两极绝对值编码器的绝对值＆ti; ti，多极绝对值编码器的绝对值＆amp; elr，分配给绝对值的临时极对数（Nx） 基于分配给绝对值＆tt; ti的绝对值和绝对值的绝对值＆amp; etti; elti和测量的绝对值＆etta; elr来校正ti，从而计算极对数（Nr） 。 绝对位置和绝对值; abs是使用（Nr×＆thetas; elp +＆thetas; elr）/ Pp的表达式计算的，其机械角度＆amp;对应于多极绝对值的输出信号的一个周期的电角度 值编码器。

公开(公告)号：US07375487B2

公开(公告)日：2008-05-20

申请号：US11361972

申请日：2006-02-27

申请人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

发明人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

IPC分类号： G05B19/29

CPC分类号： H02P6/17

摘要： A motor encoder is mounted on a motor shaft of a geared motor 1, and the origin position is detected by using a Z-phase signal. An absolute value encoder with a precision that allows the number of motor rotations to be determined is mounted on an output shaft 4 of a reduction gear, and the absolute rotational position thereof is detected. When the first Z-phase signal generated in conjunction with the rotation of the motor shaft 2a is obtained at startup and at other times, the mechanical starting point at which the motor shaft and output shaft are both positioned at the origin can be calculated based on the absolute rotational position of the reduction-gear output shaft obtained from the output-side absolute value encoder. Since the mechanical starting point is obtained by rotating the motor shaft a single rotation at most, the time required to calculate the mechanical starting point is short in comparison with conventional examples, and extraneous rotational movements can be avoided.

摘要翻译： 马达编码器安装在齿轮传动马达1的马达轴上，并且通过使用Z相信号来检测原点位置。 将具有允许确定电动机转数的精度的绝对值编码器安装在减速齿轮的输出轴4上，并检测其绝对旋转位置。 当在启动时和其他时间获得结合马达轴2a的旋转而产生的第一Z相信号时，可以基于马达轴和输出轴位于原点的机械起始点计算 在从输出侧绝对值编码器获得的减速齿轮输出轴的绝对旋转位置上。 由于通过使电机轴最多旋转一次以获得机械起始点，因此计算机械起点所需的时间与传统的实例相比较短，并且可以避免无关的旋转运动。

公开(公告)号：US07498914B2

公开(公告)日：2009-03-03

申请号：US11791438

申请日：2005-05-30

申请人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

发明人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

IPC分类号： H01F13/00 ,  H01F7/20

CPC分类号： H01F41/0273 ,  H01F13/003

摘要： An insert member (42) having an identical permeability is fitted in the circular center hole(41a) of a magnetic ring (41) which is then fitted in the circular hollow section (43a) of a fitting-over member (43) having an identical permeability. Under that state, the magnetic ring (41) is placed in a parallel magnetic field. Lines of magnetic flux passing through the magnetic ring (41) held between the insert member (42) and the fitting-over member (43) become linear without substantially inclining against the parallel magnetic field. Under that state, harmonic noise causing a deterioration in detection precision will scarcely appear in the output of a magnetic sensor for detecting the rotating magnetic field of a ring magnet (40) obtained by performing two-pole magnetization on the magnetic ring (41). When the ring magnet (40) is employed, a deterioration in the detection precision of a magnetic encoder (1) due to the magnetization state of the ring magnet (40) can be avoided, and the deterioration in detection precision can be suppressed.

摘要翻译： 具有相同渗透性的插入件（42）装配在磁环（41）的圆形中心孔（41a）中，然后将其装配到装配件（43）的圆形中空部分（43a）中， 相同的渗透性。 在该状态下，将磁环（41）置于平行磁场中。 保持在插入构件（42）和配合构件（43）之间的磁性环（41）的磁通线线性变得线性，而基本上不抵抗平行磁场倾​​斜。 在这种状态下，在用于检测通过在磁环（41）上执行两极磁化而获得的环形磁体（40）的旋转磁场的磁传感器的输出中几乎不会出现导致检测精度降低的谐波噪声。 当使用环形磁体（40）时，可以避免由于环形磁体（40）的磁化状态导致的磁性编码器（1）的检测精度的劣化，并且可以抑制检测精度的劣化。

公开(公告)号：US20090140731A1

公开(公告)日：2009-06-04

申请号：US11992810

申请日：2006-08-08

申请人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

发明人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura ,  Yasuo Sawamura

IPC分类号： G01B7/30 ,  H02K11/00

CPC分类号： G01D5/2451 ,  G01D5/145

摘要： A multiple-rotation absolute-value encoder of a geared motor, wherein the geared motor (10) reduces the rotational speed of a motor shaft (12) and takes it out from a gear shaft (14) to drive a machine device (15) in an operating range corresponding to the two rotations of the gear shaft (14). The multiple-rotation absolute-value encoder (20) fitted to the geared motor (10) comprises a gear shaft absolute value encoder (30) detecting the absolute position of the gear shaft (14) and a load side absolute value encoder (50) having a two-pole magnet (51) and a magnetic sensor (52) rotating at a rotational speed reduced to half the rotational speed of the gear shaft (14) through the magnetic gear (40). Since the operating range of the machine device (15) corresponds to one rotation of the two-pole magnet (51), the absolute position of the machine device (15) is determined based on an output from the magnetic sensor (52). As a result, the original position of the machine device (15) can be established without requiring an additional rotating operation when the operation of the machine device is started.

摘要翻译： 一种齿轮传动马达的多转绝对值编码器，其中，所述齿轮传动马达（10）降低马达轴（12）的旋转速度并将其从齿轮轴（14）中取出以驱动机器装置（15） 在对应于齿轮轴（14）的两个旋转的操作范围内。 装在齿轮传动马达（10）上的多旋转绝对值编码器（20）包括检测齿轮轴（14）的绝对位置的齿轮轴绝对值编码器（30）和负载侧绝对值编码器（50） 具有通过磁齿轮（40）以减速到齿轮轴（14）的转速的一半的转速旋转的两极磁体（51）和磁传感器（52）。 由于机器装置（15）的工作范围对应于两极磁体（51）的一次旋转，因此根据来自磁传感器（52）的输出确定机器装置（15）的绝对位置。 结果，当机器装置的操作开始时，可​​以建立机器装置（15）的原始位置，而不需要额外的旋转操作。

公开(公告)号：US07196442B2

公开(公告)日：2007-03-27

申请号：US10904673

申请日：2004-11-22

申请人： Kunio Miyashita ,  Junji Koyama

发明人： Kunio Miyashita ,  Junji Koyama

IPC分类号： H02K11/00

CPC分类号： G01D5/2451 ,  G01D5/145 ,  H02K29/08

摘要： An encoder mounted on a motor axle of an AC servomotor has a single bipolarly magnetized rotational disk, magnetic sensors for outputting X- and Y-signals that differ in phase by 90° in association with the rotation thereof, and a signal processing unit. The signal processing unit computes at predetermined cycles a rotor angle θa of a motor rotor on the basis of the X- and Y-phase signals, generates three-phase magnetic pole signals U, V, and W that differ in phase by 120° on the basis of the number M of magnetic poles of a motor, a magnetic pole reference angle θo, and the rotor angle θa; and generates A- and B-phase signals with predetermined pulse cycles that differ in phase by 90° on the basis of the rotor angle θa. An encoder that is advantageous for reducing the size and weight of an AC servomotor can be realized because it is sufficient to provide a single assembly composed of a rotational disk and magnetic sensors.

摘要翻译： 安装在交流伺服电动机的电动机轴上的编码器具有单个双极性磁化旋转盘，用于输出与其旋转相关地相位相差90°的X和Y信号的磁传感器以及信号处理单元。 信号处理单元基于X和Y相信号，以规定的周期计算电动机转子的转子角度θa，生成相位相差120°的三相磁极信号U，V，W 马达的磁极数M，磁极参考角度θo和转子角度θa的基础; 并且以基于转子角度θa的相位相差90°的预定脉冲周期产生A相和B相信号。 可以实现有利于减小AC伺服电动机的尺寸和重量的编码器，因为它足以提供由旋转盘和磁性传感器组成的单个组件。

公开(公告)号：US20050127906A1

公开(公告)日：2005-06-16

申请号：US10904734

申请日：2004-11-24

申请人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura

发明人： Kunio Miyashita ,  Junji Koyama ,  Muneo Mitamura

IPC分类号： G01D5/245 ,  G01B7/30 ,  G01D5/14

CPC分类号： G01D5/145 ,  G01D5/2451

摘要： The encoder rotor of an absolute magnetic encoder mounted on a servomotor shaft has a first drum of a bipolar magnet, and a second drum with a Q-bit multipolar magnetic pole track and a reference track. A signal processor generates absolute signals on the basis of detected signals, which differ in phase by 90° and in which a single rotation represents a single period, from X-phase and Y-phase magnetic sensors disposed facing the first drum, and on the basis of A- and B-phase signals, which differ in phase by 90°, and a reference signal obtained from A-, B-, and Z-phase magnetic sensors disposed facing the second drum. Even if the number of bits Q of the multipolar magnetic pole track is increased in order to enhance the resolution, the number of magnetic pole tracks does not need to be increased, and higher resolution can therefore be obtained without increasing the axial length.

摘要翻译： 安装在伺服电动机轴上的绝对磁性编码器的编码器转子具有双极磁体的第一鼓和具有Q位多极磁极轨道和参考轨道的第二鼓。 信号处理器基于从面向第一鼓设置的X相和Y相磁传感器的相位相差90°并且单个旋转代表单个周期的检测信号产生绝对信号，并且在 基本相位相差90°的A相和B相信号，以及从面向第二鼓的A，B，Z相磁传感器获得的参考信号。 即使为了提高分辨率而增加多极磁极轨迹的位数Q，也不需要增加磁极轨迹的数量，因此可以在不增加轴向长度的情况下获得更高的分辨率。

公开(公告)号：US20100176695A1

公开(公告)日：2010-07-15

申请号：US12602892

申请日：2007-06-22

申请人： Shunichi Tezuka ,  Junji Koyama ,  Kunio Miyashita

发明人： Shunichi Tezuka ,  Junji Koyama ,  Kunio Miyashita

IPC分类号： H02K11/00

CPC分类号： G01D5/145 ,  H02K5/1732 ,  H02K11/215

摘要： A magnetic absolute sensor for a geared motor comprises a dipole magnet and hall elements. The dipole magnet is fixed to a hollow portion of a hollow rotor shaft. A bracket attached to an end plate of a motor housing is coaxially inserted from the rear end side of the hollow portion. The dipole magnet is inserted from the front side in a cylindrical portion of the bracket. The hall elements are arranged at an interval of 90 degree on the circular inner periphery surface of the cylindrical portion. The hall elements face the circular outer periphery surface of the dipole magnet with a fixed gap therebetween. It is not necessary to increase a motor shaft length in order to incorporate the magnetic absolute sensor. The flux of a motor driven magnet is blocked by the hollow rotor shaft and the hall elements are not adversely affected.

摘要翻译： 用于齿轮电动机的磁绝对传感器包括偶极子磁体和霍尔元件。 偶极子磁体固定在空心转子轴的中空部分。 从中空部的后端侧同轴地插入安装在电动机壳体的端板上的支架。 偶极磁体从前侧插入支架的圆柱形部分。 霍尔元件在圆筒部的圆形内周面上以90度的间隔配置。 霍尔元件面对偶极子磁体的圆形外周表面，其间具有固定的间隙。 为了并入磁绝对传感器，不需要增加电机轴长度。 电机驱动磁体的磁通被空心转子轴阻挡，霍尔元件不会受到不利影响。