JPH02223352A - Encoder for servo motor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention a. Industrial Application Field The present invention relates to an encoder for a servo motor, and in particular, an encoder section and a resolver are arranged in series on the same rotation axis, and the speed can be determined by incremental rotation detection signals from the encoder section. The present invention relates to a novel improvement for obtaining a highly reliable and compact encoder by controlling the rotor position detection signal from the resolver to perform phase switching of the drive winding of the motor.

b. Conventional technology There are various encoders for servo motors of this kind that have been used in the past, but the most representative one is the encoder disclosed in Japanese Patent Application Laid-Open No. 62-278408. The structure and structure of the resolver disclosed in Japanese Utility Model Application Publication No. 168616/1988 can be mentioned.

In other words, in the case of an optical encoder, for a rotating slit plate having a pattern consisting of a large number of rotating slits,
Incremental or absolute rotation detection signals are detected by inputting light from a light emitter and detecting it by a light receiver.

In addition, in the case of a resolver, the stator 8# for the rotation detector
In a rotation detector stator having a rotation detector stator having X and a rotation detector rotor winding having 61tL, an exciting current is applied to the rotor or stator winding to generate a rotor position detection signal of a rotating shaft that can rotate 90 degrees. I was getting .

C1 Problems to be Solved by the Invention Since the conventional encoder for servo motors was configured as described above, it had the following problems.

That is, first, in the case of an optical encoder, the method of detecting the rotor position of the motor is to detect the U phase, V phase, and W phase.
There are three methods: the phase square wave signal method and the absolute code method, but in the other case, the electronic circuit components that make up the circuit for signal processing of the output signal are replaced by the conventional encoder that outputs only incremental rotation detection signals. In comparison, the number of detectors is larger and more complicated, resulting in lower reliability of the detector and an unavoidable increase in overall size.

Also, in the case of a resolver, it consists of a winding and a core.
Since it does not include electronic components, there is no problem from the viewpoint of Mtll performance, but compared to an incremental encoder, it is extremely difficult to obtain high resolution.

The present invention has been made to solve the above-mentioned problems, and in particular, an encoder section and a resolver are arranged in series on the same rotating shaft, and the speed is controlled by an incremental rotation detection signal from the encoder section. It is an object of the present invention to provide a highly reliable and compact encoder for a servo motor, which performs a phase switching operation of a drive winding of a motor using a rotor position detection signal from a rotor position detection signal.

d. Means for Solving the Problems The encoder for a servo motor according to the present invention has an incremental rotation system consisting of a rotating pongee rotatably provided on a base and an encoder rotating body provided above the rotating shaft. An encoder unit that outputs a detection signal, and a resolver configured by a rotation detector rotor provided on the rotating pongee and outputting a rotor position detection signal, and the encoder unit and the resolver are arranged in series in the axial direction of the rotating pongee. This is the configured configuration.

e. Function In the servo motor encoder according to the present invention, a rotor position detection signal for phase switching is output from the resolver composed of a rotation detector rotor and a rotation detector layer stator, and a speed control signal is output from the encoder section. Since the incremental rotation detection signal is obtained, the rotor position detection signal can be obtained with extremely high reliability, and the encoder section with the same circuit configuration as the conventional one can be used, avoiding complication of the circuit configuration. It is possible to make the shape compact, and also to have high M resistance and high resolution.

In particular, since the resolver is disposed within the recess of the encoder bearing body of the encoder section, and the encoder section and the resolver section are provided in series in the axial direction, the overall shape can also be made compact.

f. Embodiments Hereinafter, preferred embodiments of the servo motor encoder according to the present invention will be described in detail with reference to the drawings.

Figures 1 to tjrJ3 are for showing the servo motor encoder according to the present invention, and Figure 11 is a sectional view;
FIG. 2 is a block diagram. 6 In the figure, the reference numeral 1 indicates a base, a first bearing 2 provided on this base 1, and an encoder bearing body provided on the upper part of this base 1. The second stator mounted on the rotary transformer stator 3 provided in the recess IAa of 1'A.
@The receiver 4 is rotatably provided with a rotary #5, and the upper part of the rotary shaft 5 has a pattern consisting of a large number of rotary slits (not shown), and the rotary slit serves as a rotary body for the encoder. A plate 6 is provided.

A rotation detector stator 7A having a rotation detector human theta winding 7 is fixed in a recess IAa of an encoder bearing IA provided on the base 1, and a rotation detector stator 7A having a rotation detector human theta winding 7 is fixed to the rotation transformer human theta 3. , a stator winding 8 for a rotating transformer is provided.

A rotor 10 for a rotary transformer having 7 windings @9 of a rotary transformer rotor is provided approximately in the center of the rotary shaft 5, and a rotor winding #111 of a rotary transformer rotor is provided on the outer periphery of the rotor 10 for a rotary transformer. A rotation detector rotor 12 is provided, and the rotary transformer stator winding 8 is axially opposed to the rotary transformer row 7 winding 89, and overlaps the rotor winding 11 in the radial direction. ing.

Therefore, the resolver 13 as a rotation detector is formed by the rotation detector stator 7A and the rotation detector rotor 12.
A rotary transformer 14 is constituted by the rotary transformer stator 3 and the rotary transformer a-10,
These resolver 13 and rotary transformer 14 are used for the encoder I! ! One portion is located approximately within IAa and overlaps with each other in the radial direction.

On the upper part of the encoder bearing body IA, an incremental rotation detection signal detection section 19 is provided via a support base 15, and includes a first light receiving section 16 and a second light receiving section 17, and is configured to output an incremental rotation detection signal 18. In addition, a multi-rotation speed data detection section 22 comprising a third light receiving section 21 for outputting multi-rotation speed data 20 is provided.

On the upper part of the support stand 15, a circuit board 24 having an electronic circuit section 23 such as an IC is placed on an outer B cover 32, which will be described later, via a support 25. A first light emitting section 26 and a second light emitting section 27 are provided to correspond to the incremental rotation detection signal detection section 19 and the multiple rotation number data detection section 22.

Therefore, each of the light emitting sections 26, 27 . Incremental rotation detection signal detection section 19 Upward multi-rotation number data detection section 2
2 constitutes a well-known optical encoder section 3-0.

Although the encoder section 30 has an optical configuration in this embodiment, it is not limited to an optical configuration. For example, a well-known magnetic configuration may also be used to obtain the same effect as the optical configuration. In the case of a magnetic type, the rotating slit plate 6 becomes a rotating magnet plate having a magnet in a part thereof.

An external cover 32 having a connector 31 for external connection is removably provided on the base 1 with a mounting screw 33, and a connecting member 34 for external connection is provided at the lower end of the rotating shaft 5. A lower cover member 35 is removably provided at the lower part of the base 1 using mounting screws 36.

The servo motor encoder according to the present invention is constructed as described above, and its operation will be explained below.

First, as shown by the dotted line in FIG.
4, when the motor 40 is put into operation, the rotating shaft 5 rotates together with the rotation of the motor rotor 41.
The rotating slit plate 6, the rotating transformer rotor 10, and the rotation detector rotor 12 rotate.

At the same time, power is supplied to each of the light emitters 26 and upstream 27, and excitation power is supplied to the rotation detector rotor 12 via the rotary transformer 14, so that the incremental rotation detection signal detection section of the encoder section 30 19 Incremental rotation detection signal 18 and multiple rotation number data 20 are outputted from the upstream multiple rotation number data detection section 22, and this multiple rotation number data 20 is stored in the multiple number of rotation number detection storage section 50.
The signal is input to the full data converter 51 as a multi-rotation speed signal 50m, and then output as serial data 51a.

The incremental rotation detection signal 18 is transmitted to the motor 40.
The signal is inputted as a speed control signal through a processing circuit (not shown), and the speed of the motor 40 can be controlled, and the signal is small-sized and can be integrally attached to a servo motor.

Further, the rotor position detection signal 13a from the rotation detection Is (resolver) 13 is transmitted to the three-phase (
(u, v, n) are supplied as a phase switching signal to the drive windings M (not shown), and the motor rotor 41 is rotated by switching each drive winding.

g. Effects of the Invention Since the servo motor encoder according to the present invention is configured as described above, the following effects can be obtained.

In other words, since the encoder section and resolver are arranged in series on the same rotation axis, the encoder section can obtain incremental rotation detection signals with the same circuit configuration as before.
Since the resolver can obtain a rotor position detection signal for phase switching, all the signals necessary for controlling the rotation of the servo motor can be supplied by one encoder.

In addition, since the encoder section requires the same circuit configuration as before,
It is possible to obtain an encoder that prevents the encoder section from increasing in size.

Furthermore, since a resolver with excellent vibration resistance can be used for rotor position detection and output signals for phase switching, it is possible to obtain a servo motor with excellent vibration resistance.

Further, since the resolver is housed within the recess of the encoder bearing body of the encoder portion, the length in the axial direction can be shortened, and the size in the longitudinal direction can be reduced.

[Brief explanation of the drawing]

The drawings are for illustrating a servo motor encoder according to the present invention; FIG. 1 is a sectional view showing the overall configuration, and FIG. 2 is a block diagram. 1 is the base, IA is the encoder bearing body, IAa is the recess,
5 is a rotating shaft, 6 is a rotating body for an encoder (rotating slit plate), 12 is a rotor for a rotation detector, 13 is a resolver, 13
a is a rotor position detection signal, 1st is an incremental rotation detection signal, 30 is an encoder section, 50 is a multi-rotation number detection storage section, 50a is a multi-rotation number signal, 51 is a serial data converter, and 51a is serial data. Figure 1

Claims (4)

[Claims] (1) Rotating shaft (5) rotatably provided on the base (1)
an encoder section (30) configured by an encoder rotating body (6) provided on the upper part of the rotating shaft (5) and outputting an incremental rotation detection signal (18); Rotor for rotation detector (12
) and outputs a rotor position detection signal (13a), the encoder section (
30) and the resolver (13) are arranged in series in the axial direction of the rotating shaft (5). (2) It has a cup-shaped encoder bearing body (1A) provided on the upper part of the base (1), and the resolver (
2. The servo motor encoder according to claim 1, wherein the servo motor encoder 13) is located within a recess (1Aa) formed in the encoder bearing body (1A). (3) The encoder section (30) includes the rotary shaft (5).
2. The encoder for a servo motor according to claim 1, further comprising a multiple rotation speed detection storage unit (50) for detecting and storing multiple rotation speeds of the servo motor. (4) The multi-rotation speed signal (50a) from the multi-rotation speed detection storage section (50) is configured to be converted into serial data (51a) by a serial data converter (51) and output. The servo motor encoder according to claim 2.