JPH032803Y2 - - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to a contact type angle detection element.

In automatic control equipment or robots, it is necessary to obtain angle information of an object and control the angle. Particularly in control systems such as robots that have many moving parts, the reliability of the detection element that obtains angle information as well as its size become important. Also, in terms of software such as a microcomputer, which is the head of a control device, it is desirable for the load on the hardware to be as low as possible in terms of processing speed and software development.

The inventor has already written the patent application No. 57-139035.
We proposed an angle sensing element that has a laminated structure of multiple sheets printed with electrodes in a binary code array. This angle detecting element is an angle detecting element that uses a slider to slide an electrode surface that becomes the binary code array that appears by cutting or processing the stacked body in the stacking direction, and the angle information is directly transmitted to the It has the characteristics of being a base code. Therefore, since the angle detection element can be directly connected to a control device such as a microcomputer, even in devices that require multiple detection functions, it is sufficient to have as many elements as there are detection parts, and conversion as an interface is possible. No circuitry is required.

In such angle detection, in order to read the angle correctly, the structure of the slider at the time of contact or the structure of the sliding surface of the angle detection element is important, but in addition to this, the structure of the slider and the electrode It is also necessary to prevent effects such as chattering that occur when the parts come in contact with each other.

Since the angle detection element is normally connected directly to the input port of a microcomputer, software may be used to wait for a chattering time during detection.

However, as shown in FIG.
All data from each angle detector 11 input to each input port 13 of a plurality of microcomputers 12 in which the number of 1's is two or more must be read after the chattering wait is performed.

Therefore, the speed at which all the angle controls are performed is reduced.

Furthermore, in the method using software, there is a limit to the processing that can be performed by a microcomputer with a small memory.

The present invention aims to eliminate these conventional drawbacks and improves the angle reading mark bit in the angle detection element having the laminated structure.

That is, the present invention is a block having at least one circular or arcuate surface and made of laminated insulators and conductors, wherein one circular or arcuate surface of the block has one or more circular or arcuate surfaces. The above conductor portions are exposed, and conductor terminals are formed on a different surface of the block to connect to each of the conductor portions, or a portion of each conductor portion is exposed. In an angle detection element characterized by a structure, a plurality of conductors are connected in the lamination direction and in the lamination direction so that a unique code appears at each position in the circumferential direction of one circular or arcuate surface where the conductors are exposed. A first conductor arranged in the circumferential direction and having a length shorter than the smallest length conductor among the plurality of conductors in the circular or arc-shaped surface is at least the first conductor having a length shorter than the smallest length conductor among the plurality of conductors. The long conductors are located at positions that completely overlap in the stacking direction, and are arranged at minimum angle detection intervals at positions on the surface of the circle or arc where it is necessary to detect the angle from a predetermined position,
Further, the angle detection element is characterized in that the second conductor is arranged at a position that does not overlap with the first conductor in the lamination direction and at each minimum angle detection interval in the circumferential direction. .

Hereinafter, the present invention will be explained with reference to the drawings showing one embodiment.

FIG. 2 is a perspective view of an angle detection element showing an embodiment of the present invention. The sliding surface has an angle detection electrode 23 representing, for example, a binary code in the lamination direction, and further has two types of angle detection marks, a first angle detection mark layer 21 and a second angle detection mark layer 22. .

Of these two types of angle detection marks, the first
The angle detection mark 21 is positioned to completely overlap the angle detection electrode 23, and the first and second angle detection marks 21 and 22 are arranged in a straight line at the same interval as the minimum detection pitch _W3 . The second angle detection mark 22 does not overlap the first angle detection mark 21 in the stacking direction.

Since the angles of the two types of angle detection marks are at different positions in this way, when the slider is moving on this surface, the signal from the first angle detection mark and the second angle A time difference occurs in the generation of signals from the detection marks.

Therefore, as shown in FIG. 3, the output 3 from the first angle detection mark from the angle detection element 31 is
2 and the output 33 from the second angle detection mark are applied to a reset flip-flop 34, one pulse 35 is generated at the position of these two types of angle detection marks.

This one pulse 35 generates a pulse 37 that is delayed by about 2 msec in a delay circuit 36 by the waiting time of the chatter, and the angle data 38 from the angle detection element 31 is latched in the data latch 39, so that the pulse 37 is set at an angle at which no chattering occurs. Data 40 is obtained.

In this way, the present invention uses a simple circuit between it and the microcomputer to obtain angle data that does not cause chattering.
It has two types of angle detection marks that can be used to operate the reset flip-flop.

The angle detection element of the present invention was manufactured by screen-printing a conductive paste into a predetermined shape on a raw sheet made of inorganic insulating material powder and organic matter, laminating these sheets, thermo-compression bonding, and firing. Furthermore, the device of the present invention can also be manufactured using a copper-clad laminate.

In the embodiment of the present invention, in an angle detection element with a resolution of 2.5 degrees, the first angle detection mark and the second angle detection mark are
The width of the angle detection mark is approximately 0.1 mm on the sliding surface, and the distance between the first angle detection mark and the second angle detection mark is approximately 0.2 mm on the sliding surface.

In the present invention, each of the two types of angle detection mark layers is composed of one layer, but for higher reliability, a plurality of layers may be used, and there are no restrictions on the stacking positions.

Further, the width of the angle detection mark or the distance between two types of angle detection marks is not limited at all, only the width of the angle detection mark is limited to the accuracy of the angle.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a connection state with a microcomputer when there are a plurality of angle detectors. Second
The figure is a perspective view of an angle detection element having two types of detection marks according to the present invention. FIG. 3 is a circuit diagram in which chattering data can be obtained from signals from two types of detection marks according to the present invention. In the figure, 11... Angle detector, 12... Microcomputer, 13... Input port, 21
...First detection mark layer, 22...Second detection mark layer, 23...Detection electrode, 31...Angle detection element, 32...Output from first detection mark, 33
...Output from second detection mark, 34...Set Reset Flip Flop, 35...1
36...delay circuit, 37...delay pulse, 38...angle data, 39...data latch, 40...angle data.

Claims (1)

[Scope of utility model registration request] having at least one circular or arcuate surface,
A block formed by laminating an insulator and a conductor, in which one or more conductor parts are exposed within one circular or arc-shaped surface of the block, and a portion of the block that is different from that surface. In an angle detection element characterized by a structure in which conductor terminals are formed corresponding to and connected to each of the conductor parts, or a part of each of the conductor parts is exposed, one circle in which the conductor is exposed. Alternatively, a plurality of conductors are arranged in the lamination direction and the circumferential direction so that a unique code appears in the lamination direction at each position in the circumferential direction of the arc-shaped surface,
Furthermore, a first conductor having a length shorter than the smallest length conductor among the plurality of conductors on the circular or arcuate surface
The conductor is at least at a position where it completely overlaps the conductor with the minimum length among the plurality of conductors in the stacking direction, and the minimum length is at a position on the circular or arcuate surface where it is necessary to detect an angle from a predetermined position. The second conductor is arranged at each angle detection interval, and the second conductor is arranged at a position that does not overlap with the first conductor in the lamination direction, and is arranged at each minimum angle detection interval in the circumferential direction. An angle detection element characterized by: