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WO2020053992A1 - Encoder with magnetic-field-shielding plate - Google Patents

Encoder with magnetic-field-shielding plate Download PDF

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Publication number
WO2020053992A1
WO2020053992A1 PCT/JP2018/033832 JP2018033832W WO2020053992A1 WO 2020053992 A1 WO2020053992 A1 WO 2020053992A1 JP 2018033832 W JP2018033832 W JP 2018033832W WO 2020053992 A1 WO2020053992 A1 WO 2020053992A1
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WO
WIPO (PCT)
Prior art keywords
encoder
circuit board
electric circuit
magnetic field
holding member
Prior art date
Application number
PCT/JP2018/033832
Other languages
French (fr)
Japanese (ja)
Inventor
雅史 大熊
政範 二村
大輔 金森
琢也 野口
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2019514833A priority Critical patent/JPWO2020053992A1/en
Priority to PCT/JP2018/033832 priority patent/WO2020053992A1/en
Priority to TW108129949A priority patent/TW202011002A/en
Publication of WO2020053992A1 publication Critical patent/WO2020053992A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train

Definitions

  • the present invention relates to an encoder with a magnetic field shield provided with a magnetic sensor.
  • An encoder equipped with a magnetic sensor generally includes a magnet fixed to an encoder shaft. By reading the magnetic field generated by the magnet by the magnetic sensor, a function such as detection of the rotation angle of the motor shaft connected to the encoder shaft or detection of the multi-rotation position is achieved. If the magnetic flux leaked from the motor or the electromagnetic brake is detected by the magnetic sensor, it becomes noise and the detection accuracy is reduced. For this reason, an encoder equipped with a magnetic sensor is provided with a magnetic field shielding component made of a soft magnetic material to reduce intrusion of leakage magnetic flux, which is detected by the magnetic sensor and becomes noise, into the magnetic sensor.
  • the detection accuracy of the encoder depends on the assembly accuracy of the rotation angle detection scale fixed to the shaft and the rotation angle detection sensor mounted on the electric circuit board. Therefore, in order to obtain high detection accuracy, it is necessary to assemble the rotation angle detection scale and the sensor with high position accuracy. For this reason, high-precision component processing is required for the contact portion between the member supporting the electric circuit board and the bracket.
  • Patent Document 1 discloses a structure in which the entire non-load side opening of a brake casing member is covered with a magnetic field shielding component to reduce noise given to a magnetic sensor by magnetic flux leaking from an electromagnetic brake.
  • the encoder disclosed in Patent Document 1 has a structure in which a magnetic field shielding component is sandwiched between a member supporting an electric circuit board and a bracket. Therefore, in order to increase the detection accuracy, it is necessary to increase the dimensional accuracy of the magnetic field shielding component itself.
  • the soft magnetic material used for the magnetic field shielding component in the encoder disclosed in Patent Document 1 cannot use a manufacturing method such as die casting or resin molding. Therefore, in order to realize high component accuracy in a magnetic field shielding component having a complicated shape as disclosed in Patent Document 1, it is necessary to perform a cutting process. Therefore, the encoder disclosed in Patent Literature 1 requires an operation for increasing the dimensional accuracy of the magnetic field shielding component, and the man-hour during manufacturing increases.
  • the present invention has been made in view of the above, and an object of the present invention is to provide an encoder with a magnetic field shielding plate that can increase the detection accuracy without increasing the dimensional accuracy of a magnetic field shielding component.
  • the present invention provides an encoder shaft having a shaft joint provided at a lower end, an encoder base member having a hole through which the encoder shaft passes, and an upper end of the encoder shaft.
  • An electric circuit board holding member having an electric circuit board fixed to an upper end thereof, and a magnetic field having a portion overlapping with the cylindrical portion of the electric circuit board holding member when viewed along the central axis of the electric circuit board holding member.
  • the magnetic field shielding plate When viewed along the central axis of the electric circuit board holding member, the magnetic field shielding plate has a defective portion in a part of the portion that overlaps the cylindrical portion of the electric circuit board holding member.
  • the encoder base member and the electric circuit board holding member are in contact with each other through the missing portion.
  • the encoder with the magnetic field shield plate according to the present invention has an effect that detection accuracy can be improved.
  • FIG. 1 is a perspective view of an encoder according to Embodiment 1 of the present invention. Sectional view showing the configuration of the encoder according to the first embodiment. Sectional view showing the configuration of the encoder according to the first embodiment. The figure which shows typically the magnetic field guidance by the external magnetic field shielding cover of the encoder which concerns on Embodiment 1.
  • FIG. 3 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to the first embodiment. Sectional view showing a modified example of the encoder according to Embodiment 1.
  • FIG. 6 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 2 of the present invention.
  • FIG. 14 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 4 of the present invention. Exploded perspective view of an encoder according to Embodiment 4.
  • FIG. 1 is a perspective view of an encoder according to Embodiment 1 of the present invention.
  • 2 and 3 are cross-sectional views illustrating a configuration of the encoder according to the first embodiment.
  • Encoder 20 according to the first embodiment is a magnetic encoder that magnetically detects a rotation angle of encoder shaft 1.
  • the encoder 20 according to the first embodiment includes an encoder shaft 1 rotatably supported, a magnet 2 fixed to an upper end of the encoder shaft 1, and a magnetic sensor 3 for detecting a magnetic field generated by the magnet 2. .
  • the magnet 2 and the encoder shaft 1 may be fixed by bonding or by fixing the magnet 2 to a hollow cylindrical shape and fixing it with screws.
  • the magnetic sensor 3 is mounted on the electric circuit board 4.
  • As the magnetic sensor 3, a Hall element or a magnetoresistive element is used.
  • An arithmetic element 41 that processes the output voltage of the magnetic sensor 3 and calculates the rotation angle of the encoder shaft 1 is mounted on the electric circuit board 4.
  • the encoder 20 according to the first embodiment includes the electric circuit board holding member 5 that supports the electric circuit board 4 and the magnetic field shield plate 6. That is, the encoder 20 is an encoder with a magnetic field shielding plate provided with the magnetic field shielding plate 6.
  • the encoder 20 according to the first embodiment has an encoder base member 7 and a resin encoder cover 10 that form an outer shell.
  • the magnet 2, the electric circuit board 4, the electric circuit board holding member 5, and the magnetic field shielding plate 6 are housed in an outer shell formed by the encoder base member 7 and the resin encoder cover 10.
  • the resin encoder cover 10 is covered with an external magnetic field shielding cover 11.
  • the encoder base member 7 is formed of an aluminum alloy or a synthetic resin containing a filler.
  • the magnetic field shielding plate 6 is formed of a soft magnetic material.
  • a shaft coupling 9 is provided at the lower end of the encoder shaft 1.
  • the encoder shaft 1 is connected to a motor shaft of a servo motor via a shaft joint 9.
  • the seal member 12 is provided on the flat bottom surface 72 of the groove 71 provided in the encoder base member 7, and the flat portion of the peripheral portion of the resin encoder cover 10 is in contact with the seal member 12.
  • the screw 13 fixes the external magnetic field shielding cover 11 and the resin encoder cover 10 to the encoder base member 7.
  • the external magnetic field shielding cover 11 is fixed to the encoder base member 7 with screws 13.
  • the seal member 12 is compressed between the flat portion of the resin encoder cover 10 and the flat bottom surface 72 of the groove 71 of the encoder base member 7, so that a high dustproof and waterproof effect can be obtained. it can.
  • the term “flat” means that the surface is macroscopically flat, and the case where microscopic unevenness is present is also included as flat.
  • seal member 12 Since the seal member 12 is compressed between the flat surfaces, the dust-proof and waterproof effect can be obtained at low cost without processing the external magnetic field shielding cover 11 and the encoder base member 7 with high precision.
  • seal member 12 an O-ring made of nitrile rubber or silicone rubber is used.
  • the external magnetic field shielding cover 11 is formed of a soft magnetic material.
  • a nickel-iron alloy called permalloy having a high magnetic field shielding effect can be used as the material of the external magnetic field shielding cover 11.
  • the magnetic field shielding effect is inferior to that of the nickel-iron alloy, but is higher than that of the nickel-iron alloy.
  • Inexpensive rolled general structural steel or cold rolled steel plate can also be used.
  • the encoder 20 according to the first embodiment since the nominal diameter of the screw 13 used for fixing the external magnetic field shielding cover 11 can be increased, the dust-proof and waterproof performance is reduced due to an insufficient force for fixing the external magnetic field shielding cover 11. Can be suppressed.
  • the encoder 20 according to the first embodiment compresses the seal member 12 between the flat surfaces, so that the external magnetic field shielding cover 11 and the encoder base member 7 can be waterproof and dustproof even if they are not processed with high precision. Can be obtained.
  • An inner peripheral projection 73 is formed on the inner periphery of the hole of the encoder base member 7 through which the encoder shaft 1 penetrates, and protrudes like a rib toward the center axis of the hole.
  • the inner peripheral projection 73 is in contact with the outer ring 81 of the bearing 8.
  • the encoder shaft 1 is formed with a bearing restraining rib 1a which protrudes in a radial direction in a flange shape.
  • the inner ring 82 of the bearing 8 on the magnet 2 side is in contact with the bearing holding rib 1a. Therefore, the bearing 8 on the magnet 2 side is fixed by being sandwiched between the inner peripheral projection 73 and the bearing suppressing rib 1a.
  • the inner ring 82 of the bearing 8 opposite to the magnet 2 is in contact with the shaft coupling 9. Therefore, the bearing 8 opposite to the magnet 2 is fixed by being sandwiched between the inner peripheral projection 73 and the shaft coupling 9.
  • FIG. 4 is a diagram schematically showing magnetic field induction by the external magnetic field shielding cover of the encoder according to the first embodiment.
  • the external magnetic field shielding cover 11 plays a role of blocking an external magnetic field in a motor use environment, and also guides a magnetic field guided to the magnetic field shielding plate 6 from a servomotor or an electromagnetic brake to keep the magnetic field away from the magnetic sensor 3.
  • the soft magnetic material that is the material of the magnetic field shielding plate 6 generally has a higher specific gravity than the aluminum alloy or the synthetic resin containing the filler that is the material of the encoder base member 7.
  • the encoder 20 according to the first embodiment achieves a magnetic field shielding effect while realizing a lighter weight than when the entire encoder base member 7 is formed of a soft magnetic material.
  • FIG. 5 is an exploded perspective view of the electric circuit board, the electric circuit board holding member, and the magnetic field shielding plate of the encoder according to the first embodiment.
  • the electric circuit board holding member 5 has a tubular body 51 which is a cylindrical tubular portion, and both ends are open.
  • the electric circuit board 4 is adhesively fixed to the upper end of the electric circuit board holding member 5.
  • a projection 52 is formed at the lower end of the electric circuit board holding member 5.
  • the protrusion 52 has a hole through which the screw 14 for fixing the electric circuit board holding member 5 to the encoder base member 7 penetrates.
  • FIG. 5 shows a structure in which the screw 14 for fixing to the encoder base member 7 penetrates the portion of the convex portion 52. Part. That is, the electric circuit board holding member 5 and the encoder base member 7 need not be in contact with each other at the portion where the screw 14 penetrates the electric circuit board holding member 5.
  • the magnetic field shielding plate 6 is provided between the electric circuit board 4 and the encoder base member 7, and is fixed to the encoder base member 7 with screws 15.
  • the method of fixing the magnetic field shielding plate 6 to the encoder base member 7 is not limited to screwing, and may be fixed by a method such as adhesion or fitting of unevenness.
  • the magnetic field shielding plate 6 has two missing portions 61 in a part of a portion overlapping the cylindrical body 51 when viewed from a direction along the central axis of the electric circuit board holding member 5.
  • the defective portion 61 has a cutout shape reaching the edge of the magnetic field shielding plate 6 or a hole shape not reaching the edge of the magnetic field shielding plate 6.
  • the defective portion 61 has a circular hole shape.
  • the shape of the hole is not limited to a circle.
  • the number of missing portions 61 is not limited to two.
  • the encoder base member 7 and the electric circuit board holding member 5 are in contact with each other when the projection 52 of the electric circuit board holding member 5 penetrates the defective portion 61 of the magnetic field shielding plate 6.
  • the cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other.
  • the encoder 20 is a magnetic encoder, but may be an optical encoder that optically detects the rotation angle of the encoder shaft 1.
  • FIG. 6 is a sectional view showing a modified example of the encoder according to the first embodiment.
  • the light emitting element 42 and the light receiving element 43 are provided on the electric circuit board 4. Further, a reflection type optical scale 21 is attached to the magnet 2. When the light emitted from the light emitting element 42 is reflected by the reflective optical scale 21, the light intensity is modulated by the rotation of the encoder shaft 1 and then enters the light receiving element 43.
  • the rotation angle of the encoder shaft 1 connected to the motor shaft of the servo motor can be detected.
  • the magnetic sensor 3 uses a composite magnetic wire that can obtain the Barkhausen effect.
  • a power generation pulse is output from the magnetic sensor 3 which is a composite magnetic wire by the Barkhausen effect.
  • the calculation element 41 can measure the rotation direction and the number of rotations of the encoder shaft 1.
  • the encoder 20 since the electric circuit board holding member 5 is fixed to the encoder base member 7 through the defective portion 61 of the magnetic field shielding plate 6, it is not necessary to process the magnetic field shielding plate 6 with high accuracy.
  • the installation position accuracy of the magnetic sensor 3 can be improved. Therefore, the encoder 20 is hardly affected by an external magnetic field and can increase the detection accuracy.
  • the encoder 20 fixes the encoder base member 7 and the electric circuit board holding member 5 without interposing the magnetic field shielding plate 6 therebetween, the dimensions of the encoder 20 in the axial direction of the encoder shaft 1 are set. Does not increase due to the thickness of the magnetic field shielding plate 6.
  • FIG. 7 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 2 of the present invention.
  • the defective portion 61 formed in the magnetic field shielding plate 6 has a notch shape reaching the edge of the magnetic field shielding plate 6.
  • a projection 74 is provided on the upper surface of the encoder base member 7.
  • the convex portion 74 of the encoder base member 7 penetrates the defective portion 61, and the electric circuit board holding member 5 and the encoder base member 7 are in contact with each other.
  • the encoder base member 7 and the electric circuit board holding member 5 are fixed with the screws 14 penetrating the projection 74.
  • the cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other.
  • the encoder base member 7 After the encoder base member 7 is formed into a rough shape by aluminum die casting, a cutting process is performed on a portion requiring high dimensional accuracy. The portion of the encoder base member 7 that contacts the electric circuit board holding member 5 needs to be cut. However, in the encoder 20 according to the second embodiment, only the protrusion 74 needs to be cut. Manufacturing costs can be reduced.
  • FIG. Encoder 20 according to Embodiment 3 of the present invention is the same as encoder 20 according to Embodiment 1, except that the shapes of electric circuit board holding member 5, magnetic field shielding plate 6, and encoder base member 7 are different.
  • FIG. 8 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 3 of the present invention.
  • the encoder 20 according to the third embodiment has three missing portions 61 formed on the magnetic field shielding plate 6.
  • the missing portion 61 of the magnetic field shielding plate 6 of the encoder 20 according to the third embodiment is an arc-shaped notch in which the outer peripheral side of the ring is partially removed.
  • the magnetic field shielding plate 6 has a ring portion 62 smaller than the end surface of the electric circuit board holding member 5, and a plurality of radially projecting portions extending from the outer edge of the ring portion 62 in a direction away from the central axis of the electric circuit board holding member 5. And a protruding piece 63 of the same.
  • a projection 52 having a shape obtained by extending the cylindrical body 51 downward.
  • the convex portion 52 of the electric circuit board holding member 5 penetrates the defective portion 61 of the magnetic field shielding plate 6 and contacts the encoder base member 7.
  • the cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other.
  • the encoder 20 according to the third embodiment can suppress a decrease in detection accuracy of the magnetic sensor 3 due to an external magnetic field while suppressing an increase in the vertical dimension. Further, since the contact area between the electric circuit board holding member 5 and the encoder base member 7 can be increased, the vibration resistance and the shock resistance can be improved.
  • FIG. Encoder 20 according to Embodiment 4 of the present invention is the same as encoder 20 according to Embodiment 1, except that the shapes of electric circuit board holding member 5, magnetic field shielding plate 6, and encoder base member 7 are different.
  • FIG. 9 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 4 of the present invention.
  • the encoder 20 according to the fourth embodiment has three missing portions 61 formed on the magnetic field shielding plate 6.
  • the missing portion 61 of the magnetic field shielding plate 6 of the encoder 20 according to the fourth embodiment is an arc-shaped notch in which the outer peripheral side of the ring is partially removed.
  • the magnetic field shielding plate 6 includes a plurality of annular portions 62 smaller than the end surface of the electric circuit board supporting member, and a plurality of radially projecting radially extending from the outer edge of the annular portion 62 in a direction away from the central axis of the electric circuit board holding member 5. It is a shape provided with a protruding piece 63.
  • FIG. 10 is an exploded perspective view of the encoder according to the fourth embodiment.
  • the encoder base member 7 has a concave portion 75 for accommodating the magnetic field shielding plate 6.
  • the depth of the recess 75 is equal to or greater than the thickness of the magnetic field shielding plate 6. Therefore, when the magnetic field shield plate 6 is accommodated in the recess 75, the upper surface of the magnetic field shield plate 6 is located lower than the upper surface of the encoder base member 7. For this reason, the cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other. Therefore, when the encoder base member 7 and the electric circuit board holding member 5 are brought into contact with each other, the magnetic field shielding plate 6 is prevented from interfering with the electric circuit board holding member 5 or the encoder base member 7.
  • the magnetic field shielding plate 6 is accommodated in the concave portion 53 on the electric circuit board holding member 5 side.
  • the magnetic field shielding plate 6 is accommodated in the concave portion 75 of the encoder base member 7.
  • the encoder 20 according to Embodiment 4 can suppress a decrease in detection accuracy of the magnetic sensor 3 due to an external magnetic field while suppressing an increase in the vertical dimension. Further, since the contact area between the electric circuit board holding member 5 and the encoder base member 7 can be increased, the vibration resistance and the shock resistance can be improved.
  • the lower end of the electric circuit board holding member 5 of the encoder 20 according to the fourth embodiment has a shape without irregularities, and does not impair the strength of the electric circuit board holding member 5. Therefore, the encoder 20 according to the fourth embodiment is more likely to have higher vibration resistance and shock resistance than the encoder 20 according to the third embodiment.

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  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

This encoder (20) comprises: an encoder shaft (1) having a shaft coupling mounted on the lower end thereof; an encoder base member (7) having formed therein a hole that the encoder shaft (1) passes through; a magnet (2) mounted on the upper end of the encoder shaft (1); an electric circuit board (4) having, mounted thereon, a magnetic sensor (3) for detecting the magnetic field of the magnet (2) and a calculation element (41) for calculating the rotation angle of the encoder shaft (1) on the basis of the output of the magnetic sensor (3); an electric circuit board holding member (5) that has a cylindrical shape with both ends open and has the electric circuit board (4) fixed to the upper end thereof; and a magnetic-field-shielding plate (6) that comprises a part that overlaps with the cylindrical part of the electric circuit board holding member (5). A gap is formed in the part of the magnetic-field-shielding plate (6) that overlaps with the cylindrical part of the electric circuit board holding member (5) when viewed along the central axis of the electric circuit board holding member (5), and the encoder base member (7) and electric circuit board holding member (5) are in contact with each other via the gap.

Description

磁界遮蔽板付きエンコーダEncoder with magnetic shield
　本発明は、磁気センサを備えた磁界遮蔽板付きエンコーダに関する。 The present invention relates to an encoder with a magnetic field shield provided with a magnetic sensor.
　磁気センサを搭載したエンコーダは、一般的にエンコーダシャフトに固定された磁石を備えている。磁石で生じる磁界を磁気センサが読み取ることで、エンコーダシャフトに接続されたモータシャフトの回転角度の検出又は多回転位置の検出といった機能を果たす。モータ又は電磁ブレーキからの漏れ磁束は、磁気センサに検出されるとノイズとなって検出精度が低下する。このため、磁気センサを搭載したエンコーダは、軟磁性体からなる磁界遮蔽部品を設けて、磁気センサで検出されてノイズとなる漏れ磁束の磁気センサへの侵入を低減している。 エ ン コ ー ダ An encoder equipped with a magnetic sensor generally includes a magnet fixed to an encoder shaft. By reading the magnetic field generated by the magnet by the magnetic sensor, a function such as detection of the rotation angle of the motor shaft connected to the encoder shaft or detection of the multi-rotation position is achieved. If the magnetic flux leaked from the motor or the electromagnetic brake is detected by the magnetic sensor, it becomes noise and the detection accuracy is reduced. For this reason, an encoder equipped with a magnetic sensor is provided with a magnetic field shielding component made of a soft magnetic material to reduce intrusion of leakage magnetic flux, which is detected by the magnetic sensor and becomes noise, into the magnetic sensor.
　またエンコーダの検出精度は、シャフトに固定された回転角度検出用スケールと、電気回路基板上に実装された回転角度検出用のセンサとの組立て精度に依存する。したがって、高い検出精度を得るためには回転角度検出用スケールとセンサとを高い位置精度で組立てる必要がある。このため、電気回路基板を支持する部材とブラケットとの接触部には、高精度の部品加工が必要である。 検 出 The detection accuracy of the encoder depends on the assembly accuracy of the rotation angle detection scale fixed to the shaft and the rotation angle detection sensor mounted on the electric circuit board. Therefore, in order to obtain high detection accuracy, it is necessary to assemble the rotation angle detection scale and the sensor with high position accuracy. For this reason, high-precision component processing is required for the contact portion between the member supporting the electric circuit board and the bracket.
　特許文献１には、ブレーキケーシング部材の反負荷側開口全体を磁界遮蔽部品で覆い、電磁ブレーキからの漏れ磁束が磁気センサに与えるノイズを低減した構造が開示されている。 Patent Document 1 discloses a structure in which the entire non-load side opening of a brake casing member is covered with a magnetic field shielding component to reduce noise given to a magnetic sensor by magnetic flux leaking from an electromagnetic brake.
特許第５９４３６９４号公報Japanese Patent No. 5943694
　特許文献１に開示されるエンコーダは、電気回路基板を支持する部材とブラケットとの間に磁界遮蔽部品を挟み込む構造である。したがって、検出精度を高めるためには、磁界遮蔽部品自体の寸法精度を高める必要がある。特許文献１に開示されるエンコーダにおいて磁界遮蔽部品に用いられる軟磁性材料は、ダイキャスト成型又は樹脂成型といった製法を用いることができない。よって、特許文献１に開示されているような複雑な形状の磁界遮蔽部品において高い部品精度を実現するためには切削加工を行う必要がある。したがって、特許文献１に開示されるエンコーダは、磁界遮蔽部品の寸法精度を高める作業が必要であり、製造時の工数が増加してしまう。 エ ン コ ー ダ The encoder disclosed in Patent Document 1 has a structure in which a magnetic field shielding component is sandwiched between a member supporting an electric circuit board and a bracket. Therefore, in order to increase the detection accuracy, it is necessary to increase the dimensional accuracy of the magnetic field shielding component itself. The soft magnetic material used for the magnetic field shielding component in the encoder disclosed in Patent Document 1 cannot use a manufacturing method such as die casting or resin molding. Therefore, in order to realize high component accuracy in a magnetic field shielding component having a complicated shape as disclosed in Patent Document 1, it is necessary to perform a cutting process. Therefore, the encoder disclosed in Patent Literature 1 requires an operation for increasing the dimensional accuracy of the magnetic field shielding component, and the man-hour during manufacturing increases.
　本発明は、上記に鑑みてなされたものであって、磁界遮蔽部品の寸法精度を高めることなく検出精度を高めることができる磁界遮蔽板付きエンコーダを得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide an encoder with a magnetic field shielding plate that can increase the detection accuracy without increasing the dimensional accuracy of a magnetic field shielding component.
　上述した課題を解決し、目的を達成するために、本発明は、軸継ぎ手が下端部に設置されたエンコーダシャフトと、エンコーダシャフトが貫通する穴が形成されたエンコーダベース部材と、エンコーダシャフトの上端部に設置された磁石と、磁石の磁界を検出する磁気センサ及び該磁気センサの出力に基づいてエンコーダシャフトの回転角度を算出する演算素子が実装された電気回路基板と、両端が開放された円筒状であり、上端部に電気回路基板が固定された電気回路基板保持部材と、電気回路基板保持部材の中心軸に沿って見た場合に電気回路基板保持部材の筒部と重なる部分を備える磁界遮蔽板とを有する。磁界遮蔽板は、電気回路基板保持部材の中心軸に沿って見た場合に電気回路基板保持部材の筒部と重なる部分の一部に欠損部が形成されている。エンコーダベース部材と電気回路基板保持部材とは、欠損部を通じて当接している。 In order to solve the above-described problems and achieve the object, the present invention provides an encoder shaft having a shaft joint provided at a lower end, an encoder base member having a hole through which the encoder shaft passes, and an upper end of the encoder shaft. An electric circuit board on which a magnet installed in the unit, a magnetic sensor for detecting a magnetic field of the magnet, and an arithmetic element for calculating a rotation angle of the encoder shaft based on an output of the magnetic sensor, and a cylinder open at both ends An electric circuit board holding member having an electric circuit board fixed to an upper end thereof, and a magnetic field having a portion overlapping with the cylindrical portion of the electric circuit board holding member when viewed along the central axis of the electric circuit board holding member. A shielding plate. When viewed along the central axis of the electric circuit board holding member, the magnetic field shielding plate has a defective portion in a part of the portion that overlaps the cylindrical portion of the electric circuit board holding member. The encoder base member and the electric circuit board holding member are in contact with each other through the missing portion.
　本発明に係る磁界遮蔽板付きエンコーダは、検出精度を高めることができるという効果を奏する。 (4) The encoder with the magnetic field shield plate according to the present invention has an effect that detection accuracy can be improved.
本発明の実施の形態１に係るエンコーダの斜視図1 is a perspective view of an encoder according to Embodiment 1 of the present invention. 実施の形態１に係るエンコーダの構成を示す断面図Sectional view showing the configuration of the encoder according to the first embodiment. 実施の形態１に係るエンコーダの構成を示す断面図Sectional view showing the configuration of the encoder according to the first embodiment. 実施の形態１に係るエンコーダの外部磁界遮蔽カバーによる磁界誘導を模式的に示す図The figure which shows typically the magnetic field guidance by the external magnetic field shielding cover of the encoder which concerns on Embodiment 1. 実施の形態１に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図FIG. 3 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to the first embodiment. 実施の形態１に係るエンコーダの変形例を示す断面図Sectional view showing a modified example of the encoder according to Embodiment 1. 本発明の実施の形態２に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図FIG. 6 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 2 of the present invention. 本発明の実施の形態３に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図An exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of an encoder according to Embodiment 3 of the present invention. 本発明の実施の形態４に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図FIG. 14 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 4 of the present invention. 実施の形態４に係るエンコーダの分解斜視図Exploded perspective view of an encoder according to Embodiment 4.
　以下に、本発明の実施の形態に係る磁界遮蔽板付きエンコーダを図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, an encoder with a magnetic field shielding plate according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.
実施の形態１．
　図１は、本発明の実施の形態１に係るエンコーダの斜視図である。図２及び図３は、実施の形態１に係るエンコーダの構成を示す断面図である。実施の形態１に係るエンコーダ２０は、エンコーダシャフト１の回転角度を磁気的に検出する磁気エンコーダである。実施の形態１に係るエンコーダ２０は、回転可能に支持されたエンコーダシャフト１と、エンコーダシャフト１の上端部に固定された磁石２と、磁石２が発生させる磁界を検出する磁気センサ３とを有する。磁石２とエンコーダシャフト１との固定方法は、接着でも良く、磁石２を中空円筒形状にしてネジ固定しても良い。磁気センサ３は、電気回路基板４に実装されている。磁気センサ３には、ホール素子又は磁気抵抗素子が用いられている。また、電気回路基板４には、磁気センサ３の出力電圧を処理してエンコーダシャフト１の回転角度を算出する演算素子４１が実装されている。 Embodiment 1 FIG.
FIG. 1 is a perspective view of an encoder according to Embodiment 1 of the present invention. 2 and 3 are cross-sectional views illustrating a configuration of the encoder according to the first embodiment. Encoder 20 according to the first embodiment is a magnetic encoder that magnetically detects a rotation angle of encoder shaft 1. The encoder 20 according to the first embodiment includes an encoder shaft 1 rotatably supported, a magnet 2 fixed to an upper end of the encoder shaft 1, and a magnetic sensor 3 for detecting a magnetic field generated by the magnet 2. . The magnet 2 and the encoder shaft 1 may be fixed by bonding or by fixing the magnet 2 to a hollow cylindrical shape and fixing it with screws. The magnetic sensor 3 is mounted on the electric circuit board 4. As the magnetic sensor 3, a Hall element or a magnetoresistive element is used. An arithmetic element 41 that processes the output voltage of the magnetic sensor 3 and calculates the rotation angle of the encoder shaft 1 is mounted on the electric circuit board 4.
　また、実施の形態１に係るエンコーダ２０は、電気回路基板４を支持する電気回路基板保持部材５と、磁界遮蔽板６とを有する。すなわち、エンコーダ２０は、磁界遮蔽板６を備えた磁界遮蔽板付きエンコーダである。実施の形態１に係るエンコーダ２０は、外郭をなすエンコーダベース部材７及び樹脂製エンコーダカバー１０を有する。磁石２、電気回路基板４、電気回路基板保持部材５及び磁界遮蔽板６は、エンコーダベース部材７及び樹脂製エンコーダカバー１０がなす外郭に収容されている。樹脂製エンコーダカバー１０は、外部磁界遮蔽カバー１１で覆われている。 The encoder 20 according to the first embodiment includes the electric circuit board holding member 5 that supports the electric circuit board 4 and the magnetic field shield plate 6. That is, the encoder 20 is an encoder with a magnetic field shielding plate provided with the magnetic field shielding plate 6. The encoder 20 according to the first embodiment has an encoder base member 7 and a resin encoder cover 10 that form an outer shell. The magnet 2, the electric circuit board 4, the electric circuit board holding member 5, and the magnetic field shielding plate 6 are housed in an outer shell formed by the encoder base member 7 and the resin encoder cover 10. The resin encoder cover 10 is covered with an external magnetic field shielding cover 11.
　エンコーダベース部材７は、アルミニウム合金又はフィラー入り合成樹脂で形成されている。磁界遮蔽板６は、軟磁性体で形成されている。 The encoder base member 7 is formed of an aluminum alloy or a synthetic resin containing a filler. The magnetic field shielding plate 6 is formed of a soft magnetic material.
　エンコーダシャフト１の下端部には、軸継ぎ手９が設置されている。エンコーダシャフト１は、軸継ぎ手９を介してサーボモータのモータシャフトに接続される。 軸 A shaft coupling 9 is provided at the lower end of the encoder shaft 1. The encoder shaft 1 is connected to a motor shaft of a servo motor via a shaft joint 9.
　エンコーダベース部材７に設けられた溝７１の平坦な底面７２にシール部材１２が設置されており、樹脂製エンコーダカバー１０の周縁部の平坦な部分がシール部材１２に接している。ねじ１３は、外部磁界遮蔽カバー１１と樹脂製エンコーダカバー１０とをエンコーダベース部材７に固定する。外部磁界遮蔽カバー１１は、エンコーダベース部材７にねじ１３で固定される。ねじ１３の締結後は、樹脂製エンコーダカバー１０の平坦な部分とエンコーダベース部材７の溝７１の平坦な底面７２との間でシール部材１２が圧縮されており、高い防塵防水効果を得ることができる。なお、ここでの平坦とは、巨視的に平面であることを意味し、微視的な凹凸が存在している場合も平坦に含まれる。シール部材１２は、平坦な面同士の間で圧縮されているため、外部磁界遮蔽カバー１１及びエンコーダベース部材７を高精度に加工することなく、低コストに防塵防水効果を得ることができる。シール部材１２には、ニトリルゴム又はシリコーンゴムからなるＯリングが用いられている。 The seal member 12 is provided on the flat bottom surface 72 of the groove 71 provided in the encoder base member 7, and the flat portion of the peripheral portion of the resin encoder cover 10 is in contact with the seal member 12. The screw 13 fixes the external magnetic field shielding cover 11 and the resin encoder cover 10 to the encoder base member 7. The external magnetic field shielding cover 11 is fixed to the encoder base member 7 with screws 13. After the screw 13 is fastened, the seal member 12 is compressed between the flat portion of the resin encoder cover 10 and the flat bottom surface 72 of the groove 71 of the encoder base member 7, so that a high dustproof and waterproof effect can be obtained. it can. Here, the term “flat” means that the surface is macroscopically flat, and the case where microscopic unevenness is present is also included as flat. Since the seal member 12 is compressed between the flat surfaces, the dust-proof and waterproof effect can be obtained at low cost without processing the external magnetic field shielding cover 11 and the encoder base member 7 with high precision. As the seal member 12, an O-ring made of nitrile rubber or silicone rubber is used.
　外部磁界遮蔽カバー１１は、軟磁性体で形成される。外部磁界遮蔽カバー１１の材料には、磁界遮蔽効果が高いパーマロイと呼称されるニッケル－鉄合金を用いることもできるし、磁界遮蔽効果はニッケル－鉄合金よりも劣るが、ニッケル－鉄合金よりも安価な一般構造用圧延鋼材又は冷間圧延鋼板を用いることもできる。 The external magnetic field shielding cover 11 is formed of a soft magnetic material. As the material of the external magnetic field shielding cover 11, a nickel-iron alloy called permalloy having a high magnetic field shielding effect can be used. The magnetic field shielding effect is inferior to that of the nickel-iron alloy, but is higher than that of the nickel-iron alloy. Inexpensive rolled general structural steel or cold rolled steel plate can also be used.
　実施の形態１に係るエンコーダ２０は、外部磁界遮蔽カバー１１の固定に用いるねじ１３の呼び径を大きくできるため、外部磁界遮蔽カバー１１を固定する力が不足することに起因する防塵防水性能の低下を抑制できる。実施の形態１に係るエンコーダ２０は、平坦な面同士の間でシール部材１２を圧縮しているため、外部磁界遮蔽カバー１１及びエンコーダベース部材７を高精度に加工しなくても、防水防塵性を得ることができる。 In the encoder 20 according to the first embodiment, since the nominal diameter of the screw 13 used for fixing the external magnetic field shielding cover 11 can be increased, the dust-proof and waterproof performance is reduced due to an insufficient force for fixing the external magnetic field shielding cover 11. Can be suppressed. The encoder 20 according to the first embodiment compresses the seal member 12 between the flat surfaces, so that the external magnetic field shielding cover 11 and the encoder base member 7 can be waterproof and dustproof even if they are not processed with high precision. Can be obtained.
　エンコーダベース部材７のエンコーダシャフト１が貫通する穴の内周には、穴の中心軸に向かってリブ状に張り出す内周突起部７３が形成されている。内周突起部７３は、ベアリング８の外輪８１に当接している。また、エンコーダシャフト１には、フランジ状に外径方向に突出するベアリング抑えリブ１ａが形成されている。磁石２側のベアリング８の内輪８２は、ベアリング抑えリブ１ａに当接している。したがって、磁石２側のベアリング８は、内周突起部７３とベアリング抑えリブ１ａとに挟まれて固定されている。また、磁石２とは逆側のベアリング８の内輪８２は、軸継ぎ手９に当接している。したがって、磁石２とは逆側のベアリング８は、内周突起部７３と軸継ぎ手９とに挟まれて固定されている。 内 An inner peripheral projection 73 is formed on the inner periphery of the hole of the encoder base member 7 through which the encoder shaft 1 penetrates, and protrudes like a rib toward the center axis of the hole. The inner peripheral projection 73 is in contact with the outer ring 81 of the bearing 8. Further, the encoder shaft 1 is formed with a bearing restraining rib 1a which protrudes in a radial direction in a flange shape. The inner ring 82 of the bearing 8 on the magnet 2 side is in contact with the bearing holding rib 1a. Therefore, the bearing 8 on the magnet 2 side is fixed by being sandwiched between the inner peripheral projection 73 and the bearing suppressing rib 1a. The inner ring 82 of the bearing 8 opposite to the magnet 2 is in contact with the shaft coupling 9. Therefore, the bearing 8 opposite to the magnet 2 is fixed by being sandwiched between the inner peripheral projection 73 and the shaft coupling 9.
　図４は、実施の形態１に係るエンコーダの外部磁界遮蔽カバーによる磁界誘導を模式的に示す図である。外部磁界遮蔽カバー１１はモータ使用環境における外部磁界を遮断する役割に加え、サーボモータ又は電磁ブレーキから磁界遮蔽板６に誘導された磁界を誘導して磁気センサ３から遠ざける。磁界遮蔽板６の材料である軟磁性体は、エンコーダベース部材７の材料であるアルミニウム合金又はフィラー入り合成樹脂よりも比重が大きいことが一般的である。実施の形態１に係るエンコーダ２０は、エンコーダベース部材７全体を軟磁性体で形成する場合よりも軽量化を実現しつつ、磁界遮蔽効果が得られる。 FIG. 4 is a diagram schematically showing magnetic field induction by the external magnetic field shielding cover of the encoder according to the first embodiment. The external magnetic field shielding cover 11 plays a role of blocking an external magnetic field in a motor use environment, and also guides a magnetic field guided to the magnetic field shielding plate 6 from a servomotor or an electromagnetic brake to keep the magnetic field away from the magnetic sensor 3. The soft magnetic material that is the material of the magnetic field shielding plate 6 generally has a higher specific gravity than the aluminum alloy or the synthetic resin containing the filler that is the material of the encoder base member 7. The encoder 20 according to the first embodiment achieves a magnetic field shielding effect while realizing a lighter weight than when the entire encoder base member 7 is formed of a soft magnetic material.
　図５は、実施の形態１に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図である。電気回路基板保持部材５は、円筒状の筒部である筒体５１を有し、両端が開放されている。電気回路基板４は、電気回路基板保持部材５の上端部に接着固定されている。電気回路基板保持部材５の下端部には、凸部５２が形成されている。凸部５２には、エンコーダベース部材７に電気回路基板保持部材５を固定するねじ１４が貫通する穴が形成されている。図５には、エンコーダベース部材７への固定用のねじ１４が凸部５２の部分を貫通する構造を示したが、ねじ１４が電気回路基板保持部材５を貫通する部分は、凸部５２以外の部分であってもよい。すなわち、ねじ１４が電気回路基板保持部材５を貫通する部分において、電気回路基板保持部材５とエンコーダベース部材７とが接触していなくても良い。 FIG. 5 is an exploded perspective view of the electric circuit board, the electric circuit board holding member, and the magnetic field shielding plate of the encoder according to the first embodiment. The electric circuit board holding member 5 has a tubular body 51 which is a cylindrical tubular portion, and both ends are open. The electric circuit board 4 is adhesively fixed to the upper end of the electric circuit board holding member 5. At the lower end of the electric circuit board holding member 5, a projection 52 is formed. The protrusion 52 has a hole through which the screw 14 for fixing the electric circuit board holding member 5 to the encoder base member 7 penetrates. FIG. 5 shows a structure in which the screw 14 for fixing to the encoder base member 7 penetrates the portion of the convex portion 52. Part. That is, the electric circuit board holding member 5 and the encoder base member 7 need not be in contact with each other at the portion where the screw 14 penetrates the electric circuit board holding member 5.
　磁界遮蔽板６は、電気回路基板４とエンコーダベース部材７との間に設置され、ねじ１５でエンコーダベース部材７に固定される。なお、磁界遮蔽板６をエンコーダベース部材７に固定する方法はねじ止めに限定されることはなく、接着又は凹凸の嵌合といった方法で固定してもよい。 The magnetic field shielding plate 6 is provided between the electric circuit board 4 and the encoder base member 7, and is fixed to the encoder base member 7 with screws 15. The method of fixing the magnetic field shielding plate 6 to the encoder base member 7 is not limited to screwing, and may be fixed by a method such as adhesion or fitting of unevenness.
　磁界遮蔽板６は、電気回路基板保持部材５の中心軸に沿った方向から見た場合に筒体５１と重なる部分の一部に二つの欠損部６１が形成されている。欠損部６１は、磁界遮蔽板６の縁まで達する切り欠き状又は磁界遮蔽板６の縁まで達しない穴状である。実施の形態１において、欠損部６１は、円形の穴状である。ただし、穴の形状は円形に限定されない。また、欠損部６１の数は、二つに限定されない。 The magnetic field shielding plate 6 has two missing portions 61 in a part of a portion overlapping the cylindrical body 51 when viewed from a direction along the central axis of the electric circuit board holding member 5. The defective portion 61 has a cutout shape reaching the edge of the magnetic field shielding plate 6 or a hole shape not reaching the edge of the magnetic field shielding plate 6. In the first embodiment, the defective portion 61 has a circular hole shape. However, the shape of the hole is not limited to a circle. Further, the number of missing portions 61 is not limited to two.
　エンコーダベース部材７と電気回路基板保持部材５とは、磁界遮蔽板６の欠損部６１を電気回路基板保持部材５の凸部５２が貫通することによって当接している。なお、電気回路基板保持部材５の筒体５１と、磁界遮蔽板６とは、非接触である。 (4) The encoder base member 7 and the electric circuit board holding member 5 are in contact with each other when the projection 52 of the electric circuit board holding member 5 penetrates the defective portion 61 of the magnetic field shielding plate 6. The cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other.
　モータシャフトが回転すると、軸継ぎ手９を介してエンコーダシャフト１に回転が伝わるため、エンコーダシャフト１に固定されている磁石２が回転する。したがって、磁気センサ３からの出力電圧は、モータシャフトの回転角度の変化に伴って変動する。磁気センサ３の出力電圧を演算素子４１が処理することにより、モータシャフトに接続されたエンコーダシャフト１の回転角度が算出される。 (4) When the motor shaft rotates, the rotation is transmitted to the encoder shaft 1 via the shaft joint 9, so that the magnet 2 fixed to the encoder shaft 1 rotates. Therefore, the output voltage from the magnetic sensor 3 fluctuates with a change in the rotation angle of the motor shaft. The arithmetic element 41 processes the output voltage of the magnetic sensor 3 to calculate the rotation angle of the encoder shaft 1 connected to the motor shaft.
　上記の説明において、エンコーダ２０は磁気式エンコーダであったが、エンコーダシャフト１の回転角度を光学的に検出する光学式エンコーダとすることもできる。図６は、実施の形態１に係るエンコーダの変形例を示す断面図である。電気回路基板４には、発光素子４２及び受光素子４３が設けられている。また、磁石２には反射式光学スケール２１が取りつけられている。発光素子４２から出た光は反射式光学スケール２１で反射する際にエンコーダシャフト１の回転により光強度が変調されてから受光素子４３に入射する。受光素子４３からの出力電圧を電気回路基板４上に実装された演算素子４１で処理することで、サーボモータのモータシャフトに接続されたエンコーダシャフト１の回転角度を検出することができる。 In the above description, the encoder 20 is a magnetic encoder, but may be an optical encoder that optically detects the rotation angle of the encoder shaft 1. FIG. 6 is a sectional view showing a modified example of the encoder according to the first embodiment. The light emitting element 42 and the light receiving element 43 are provided on the electric circuit board 4. Further, a reflection type optical scale 21 is attached to the magnet 2. When the light emitted from the light emitting element 42 is reflected by the reflective optical scale 21, the light intensity is modulated by the rotation of the encoder shaft 1 and then enters the light receiving element 43. By processing the output voltage from the light receiving element 43 by the arithmetic element 41 mounted on the electric circuit board 4, the rotation angle of the encoder shaft 1 connected to the motor shaft of the servo motor can be detected.
　また、実施の形態１の変形例に係るエンコーダ２０では、磁気センサ３には、バルクハウゼン効果が得られる複合磁気ワイヤが用いられている。磁石２が固定されたエンコーダシャフト１の回転角度の変化に伴って磁界の向きが変化すると、バルクハウゼン効果により複合磁気ワイヤである磁気センサ３から発電パルスが出力される。磁気センサ３から出力された発電パルスを演算することで、演算素子４１は、エンコーダシャフト１の回転方向及び回転回数を計測できる。 In the encoder 20 according to the modification of the first embodiment, the magnetic sensor 3 uses a composite magnetic wire that can obtain the Barkhausen effect. When the direction of the magnetic field changes with a change in the rotation angle of the encoder shaft 1 to which the magnet 2 is fixed, a power generation pulse is output from the magnetic sensor 3 which is a composite magnetic wire by the Barkhausen effect. By calculating the power generation pulse output from the magnetic sensor 3, the calculation element 41 can measure the rotation direction and the number of rotations of the encoder shaft 1.
　実施の形態１に係るエンコーダ２０は、磁界遮蔽板６の欠損部６１を通じて、エンコーダベース部材７に電気回路基板保持部材５が固定されるため、磁界遮蔽板６を高精度に加工しなくても磁気センサ３の設置位置精度を高めることができる。したがって、エンコーダ２０は、外部の磁界の影響を受けにくく、かつ検出精度を高くできる。 In the encoder 20 according to the first embodiment, since the electric circuit board holding member 5 is fixed to the encoder base member 7 through the defective portion 61 of the magnetic field shielding plate 6, it is not necessary to process the magnetic field shielding plate 6 with high accuracy. The installation position accuracy of the magnetic sensor 3 can be improved. Therefore, the encoder 20 is hardly affected by an external magnetic field and can increase the detection accuracy.
　また、実施の形態１に係るエンコーダ２０は、磁界遮蔽板６を間に挟まずにエンコーダベース部材７と電気回路基板保持部材５とを固定するため、エンコーダシャフト１の軸方向におけるエンコーダ２０の寸法が磁界遮蔽板６の厚さによって増加することがない。 In addition, since the encoder 20 according to the first embodiment fixes the encoder base member 7 and the electric circuit board holding member 5 without interposing the magnetic field shielding plate 6 therebetween, the dimensions of the encoder 20 in the axial direction of the encoder shaft 1 are set. Does not increase due to the thickness of the magnetic field shielding plate 6.
実施の形態２．
　本発明の実施の形態２に係るエンコーダ２０は、電気回路基板保持部材５、磁界遮蔽板６及びエンコーダベース部材７の形状が相違することを除き、実施の形態１に係るエンコーダ２０と同様である。図７は、本発明の実施の形態２に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図である。磁界遮蔽板６に形成された欠損部６１は、磁界遮蔽板６の縁まで達する切り欠き状である。エンコーダベース部材７の上面には凸部７４が設けられている。エンコーダベース部材７の凸部７４が欠損部６１を貫通し、電気回路基板保持部材５とエンコーダベース部材７とが当接している。エンコーダベース部材７と電気回路基板保持部材５とは、凸部７４を貫通するねじ１４で固定される。なお、電気回路基板保持部材５の筒体５１と、磁界遮蔽板６とは、非接触である。 Embodiment 2 FIG.
The encoder 20 according to the second embodiment of the present invention is the same as the encoder 20 according to the first embodiment, except that the shapes of the electric circuit board holding member 5, the magnetic field shielding plate 6, and the encoder base member 7 are different. . FIG. 7 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 2 of the present invention. The defective portion 61 formed in the magnetic field shielding plate 6 has a notch shape reaching the edge of the magnetic field shielding plate 6. A projection 74 is provided on the upper surface of the encoder base member 7. The convex portion 74 of the encoder base member 7 penetrates the defective portion 61, and the electric circuit board holding member 5 and the encoder base member 7 are in contact with each other. The encoder base member 7 and the electric circuit board holding member 5 are fixed with the screws 14 penetrating the projection 74. The cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other.
　エンコーダベース部材７は、アルミダイキャストで概略形状を成形した後に、高い寸法精度が必要な箇所に切削加工が施される。エンコーダベース部材７の電気回路基板保持部材５と当接する部分は切削加工を施す必要があるが、実施の形態２に係るエンコーダ２０では凸部７４のみ切削加工すれば良いため、エンコーダベース部材７の製造コストを低減できる。 After the encoder base member 7 is formed into a rough shape by aluminum die casting, a cutting process is performed on a portion requiring high dimensional accuracy. The portion of the encoder base member 7 that contacts the electric circuit board holding member 5 needs to be cut. However, in the encoder 20 according to the second embodiment, only the protrusion 74 needs to be cut. Manufacturing costs can be reduced.
実施の形態３．
　本発明の実施の形態３に係るエンコーダ２０は、電気回路基板保持部材５、磁界遮蔽板６及びエンコーダベース部材７の形状が相違することを除き、実施の形態１に係るエンコーダ２０と同様である。図８は、本発明の実施の形態３に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図である。実施の形態３に係るエンコーダ２０は、磁界遮蔽板６に欠損部６１が三つ形成されている。実施の形態３に係るエンコーダ２０の磁界遮蔽板６の欠損部６１は、円環の外周側が部分的に除去された円弧状の切り欠きである。したがって、磁界遮蔽板６は、電気回路基板保持部材５の端面よりも小さい円環部６２と、円環部６２の外縁から電気回路基板保持部材５の中心軸から遠ざかる方向に放射状に突出する複数の突出片６３とを備えた形状となっている。 Embodiment 3 FIG.
Encoder 20 according to Embodiment 3 of the present invention is the same as encoder 20 according to Embodiment 1, except that the shapes of electric circuit board holding member 5, magnetic field shielding plate 6, and encoder base member 7 are different. . FIG. 8 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 3 of the present invention. The encoder 20 according to the third embodiment has three missing portions 61 formed on the magnetic field shielding plate 6. The missing portion 61 of the magnetic field shielding plate 6 of the encoder 20 according to the third embodiment is an arc-shaped notch in which the outer peripheral side of the ring is partially removed. Therefore, the magnetic field shielding plate 6 has a ring portion 62 smaller than the end surface of the electric circuit board holding member 5, and a plurality of radially projecting portions extending from the outer edge of the ring portion 62 in a direction away from the central axis of the electric circuit board holding member 5. And a protruding piece 63 of the same.
　電気回路基板保持部材５の下端部には、筒体５１を下方に延長した形状の凸部５２が設けられている。電気回路基板保持部材５の凸部５２は、磁界遮蔽板６の欠損部６１を貫通してエンコーダベース部材７に当接する。なお、電気回路基板保持部材５の筒体５１と、磁界遮蔽板６とは、非接触である。電気回路基板保持部材５の凸部５２同士の間は、磁界遮蔽板６の突出片６３の厚さよりも大きい凹部５３となっている。したがって、エンコーダベース部材７と電気回路基板保持部材５とを当接させる際に磁界遮蔽板６が電気回路基板保持部材５又はエンコーダベース部材７と干渉することは防止される。 凸 At the lower end of the electric circuit board holding member 5, there is provided a projection 52 having a shape obtained by extending the cylindrical body 51 downward. The convex portion 52 of the electric circuit board holding member 5 penetrates the defective portion 61 of the magnetic field shielding plate 6 and contacts the encoder base member 7. The cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other. Between the convex portions 52 of the electric circuit board holding member 5, there is a concave portion 53 which is larger than the thickness of the projecting piece 63 of the magnetic field shielding plate 6. Therefore, when the encoder base member 7 and the electric circuit board holding member 5 are brought into contact with each other, the magnetic field shielding plate 6 is prevented from interfering with the electric circuit board holding member 5 or the encoder base member 7.
　実施の形態３に係るエンコーダ２０は、上下方向の寸法が大きくなることを抑制しつつ、外部磁界による磁気センサ３による検出精度の低下を抑えることができる。また、電気回路基板保持部材５とエンコーダベース部材７との接触面積を拡大できるため、耐振動性及び耐衝撃耐性を高めることができる。 The encoder 20 according to the third embodiment can suppress a decrease in detection accuracy of the magnetic sensor 3 due to an external magnetic field while suppressing an increase in the vertical dimension. Further, since the contact area between the electric circuit board holding member 5 and the encoder base member 7 can be increased, the vibration resistance and the shock resistance can be improved.
実施の形態４．
　本発明の実施の形態４に係るエンコーダ２０は、電気回路基板保持部材５、磁界遮蔽板６及びエンコーダベース部材７の形状が相違することを除き、実施の形態１に係るエンコーダ２０と同様である。図９は、本発明の実施の形態４に係るエンコーダの電気回路基板、電気回路基板保持部材及び磁界遮蔽板の分解斜視図である。実施の形態４に係るエンコーダ２０は、磁界遮蔽板６に欠損部６１が三つ形成されている。実施の形態４に係るエンコーダ２０の磁界遮蔽板６の欠損部６１は、円環の外周側が部分的に除去された円弧状の切り欠きである。したがって、磁界遮蔽板６は、電気回路基板支持部材の端面よりも小さい円環部６２と、円環部６２の外縁から電気回路基板保持部材５の中心軸から遠ざかる方向に放射状に突出する複数の突出片６３とを備えた形状である。 Embodiment 4 FIG.
Encoder 20 according to Embodiment 4 of the present invention is the same as encoder 20 according to Embodiment 1, except that the shapes of electric circuit board holding member 5, magnetic field shielding plate 6, and encoder base member 7 are different. . FIG. 9 is an exploded perspective view of an electric circuit board, an electric circuit board holding member, and a magnetic field shielding plate of the encoder according to Embodiment 4 of the present invention. The encoder 20 according to the fourth embodiment has three missing portions 61 formed on the magnetic field shielding plate 6. The missing portion 61 of the magnetic field shielding plate 6 of the encoder 20 according to the fourth embodiment is an arc-shaped notch in which the outer peripheral side of the ring is partially removed. Accordingly, the magnetic field shielding plate 6 includes a plurality of annular portions 62 smaller than the end surface of the electric circuit board supporting member, and a plurality of radially projecting radially extending from the outer edge of the annular portion 62 in a direction away from the central axis of the electric circuit board holding member 5. It is a shape provided with a protruding piece 63.
　図１０は、実施の形態４に係るエンコーダの分解斜視図である。エンコーダベース部材７は、磁界遮蔽板６を収容する凹部７５が形成されている。凹部７５の深さは、磁界遮蔽板６の厚さ以上となっている。したがって、凹部７５に磁界遮蔽板６を収容した状態では、磁界遮蔽板６の上面は、エンコーダベース部材７の上面よりも下方に位置する。このため、電気回路基板保持部材５の筒体５１と、磁界遮蔽板６とは、非接触である。したがって、エンコーダベース部材７と電気回路基板保持部材５とを当接させる際に磁界遮蔽板６が電気回路基板保持部材５又はエンコーダベース部材７と干渉することは防止される。 FIG. 10 is an exploded perspective view of the encoder according to the fourth embodiment. The encoder base member 7 has a concave portion 75 for accommodating the magnetic field shielding plate 6. The depth of the recess 75 is equal to or greater than the thickness of the magnetic field shielding plate 6. Therefore, when the magnetic field shield plate 6 is accommodated in the recess 75, the upper surface of the magnetic field shield plate 6 is located lower than the upper surface of the encoder base member 7. For this reason, the cylindrical body 51 of the electric circuit board holding member 5 and the magnetic field shielding plate 6 are not in contact with each other. Therefore, when the encoder base member 7 and the electric circuit board holding member 5 are brought into contact with each other, the magnetic field shielding plate 6 is prevented from interfering with the electric circuit board holding member 5 or the encoder base member 7.
　上記の実施の形態３では電気回路基板保持部材５側の凹部５３に磁界遮蔽板６が収容される構造を示し、実施の形態４ではエンコーダベース部材７の凹部７５に磁界遮蔽板６が収容される構造を示したが、電気回路基板保持部材５及びエンコーダベース部材７の両方に凹部を設けて磁界遮蔽板６が電気回路基板保持部材５又はエンコーダベース部材７と干渉することを防止してもよい。 In the third embodiment, the magnetic field shielding plate 6 is accommodated in the concave portion 53 on the electric circuit board holding member 5 side. In the fourth embodiment, the magnetic field shielding plate 6 is accommodated in the concave portion 75 of the encoder base member 7. Although the structure shown in FIG. 3 is shown, even if a concave portion is provided in both the electric circuit board holding member 5 and the encoder base member 7 to prevent the magnetic field shielding plate 6 from interfering with the electric circuit board holding member 5 or the encoder base member 7. Good.
　実施の形態４に係るエンコーダ２０は、上下方向の寸法が大きくなることを抑制しつつ、外部磁界による磁気センサ３による検出精度の低下を抑えることができる。また、電気回路基板保持部材５とエンコーダベース部材７との接触面積を拡大できるため、耐振動性及び耐衝撃耐性を高めることができる。 The encoder 20 according to Embodiment 4 can suppress a decrease in detection accuracy of the magnetic sensor 3 due to an external magnetic field while suppressing an increase in the vertical dimension. Further, since the contact area between the electric circuit board holding member 5 and the encoder base member 7 can be increased, the vibration resistance and the shock resistance can be improved.
　実施の形態４に係るエンコーダ２０の電気回路基板保持部材５の下端部は、凹凸の無い形状であり、電気回路基板保持部材５の強度を損なうことがない。したがって、実施の形態４に係るエンコーダ２０は、実施の形態３に係るエンコーダ２０よりも耐振動性及び耐衝撃性を高めやすい。 The lower end of the electric circuit board holding member 5 of the encoder 20 according to the fourth embodiment has a shape without irregularities, and does not impair the strength of the electric circuit board holding member 5. Therefore, the encoder 20 according to the fourth embodiment is more likely to have higher vibration resistance and shock resistance than the encoder 20 according to the third embodiment.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configurations described in the above embodiments are merely examples of the contents of the present invention, and can be combined with other known technologies, and can be combined with other known technologies without departing from the gist of the present invention. Parts can be omitted or changed.
　１　エンコーダシャフト、１ａ　ベアリング抑えリブ、２　磁石、３　磁気センサ、４　電気回路基板、５　電気回路基板保持部材、６　磁界遮蔽板、７　エンコーダベース部材、８　ベアリング、９　軸継ぎ手、１０　樹脂製エンコーダカバー、１１　外部磁界遮蔽カバー、１２　シール部材、１３，１４，１５　ねじ、２０　エンコーダ、２１　反射式光学スケール、４１　演算素子、４２　発光素子、４３　受光素子、５１　筒体、５２，７４　凸部、５３，７５　凹部、６１　欠損部、６２　円環部、６３　突出片、７１　溝、７２　底面、７３　内周突起部、８１　外輪、８２　内輪。 1 encoder shaft, 1a bearing holding rib, 2 magnet, 3 magnetic sensor, 4 electric circuit board, 5 electric circuit board holding member, 6 magnetic field shield plate, 7 encoder base member, 8 bearing, 9 joint, 10 encoder cover made of resin , 11 external magnetic field shielding cover, 12 seal member, 13, 14, 15 screw, 20 encoder, 21 reflective optical scale, 41 arithmetic element, 42 light emitting element, 43 light receiving element, 51 cylinder, 52, 74 convex part, 53 , 75 concave portion, 61 missing portion, 62 annular portion, 63 projecting piece, 71 groove, 72 bottom surface, 73 inner peripheral projection, 81 outer ring, 82 inner ring.

Claims (7)

  1. 　軸継ぎ手が下端部に設置されたエンコーダシャフトと、
    　前記エンコーダシャフトが貫通する穴が形成されたエンコーダベース部材と、
    　前記エンコーダシャフトの上端部に設置された磁石と、
    　前記磁石の磁界を検出する磁気センサ及び該磁気センサの出力に基づいて前記エンコーダシャフトの回転角度を算出する演算素子が実装された電気回路基板と、
    　両端が開放された円筒状であり、上端部に前記電気回路基板が固定された電気回路基板保持部材と、
    　前記電気回路基板保持部材の中心軸に沿って見た場合に前記電気回路基板保持部材の筒部と重なる部分を備える磁界遮蔽板とを有し、
    　前記磁界遮蔽板は、前記電気回路基板保持部材の中心軸に沿って見た場合に前記電気回路基板保持部材の筒部と重なる部分の一部に欠損部が形成されており、
    　前記エンコーダベース部材と前記電気回路基板保持部材とは、前記欠損部を通じて当接していることを特徴とする磁界遮蔽板付きエンコーダ。     An encoder shaft with a shaft coupling installed at the lower end,
    An encoder base member formed with a hole through which the encoder shaft passes,
    A magnet installed at the upper end of the encoder shaft,
    An electric circuit board mounted with a magnetic sensor that detects a magnetic field of the magnet and an arithmetic element that calculates a rotation angle of the encoder shaft based on an output of the magnetic sensor;
    An electric circuit board holding member having a cylindrical shape with both ends opened, and the electric circuit board fixed to an upper end;
    A magnetic field shielding plate having a portion that overlaps with a cylindrical portion of the electric circuit board holding member when viewed along a central axis of the electric circuit board holding member,
    The magnetic field shielding plate has a defective portion formed in a part of a portion overlapping with a cylindrical portion of the electric circuit board holding member when viewed along a central axis of the electric circuit board holding member,
    The encoder with a magnetic field shielding plate, wherein the encoder base member and the electric circuit board holding member are in contact with each other through the defective portion.
  2. 　前記電気回路基板保持部材の下端部及び前記エンコーダベース部材の上面の少なくとも一方に凸部を備え、前記凸部が前記欠損部を貫通することにより、前記エンコーダベース部材と前記電気回路基板保持部材とが当接することを特徴とする請求項１に記載の磁界遮蔽板付きエンコーダ。 At least one of the lower end of the electric circuit board holding member and the upper surface of the encoder base member has a protrusion, and the protrusion penetrates the defective portion, so that the encoder base member, the electric circuit board holding member, The encoder with the magnetic field shield plate according to claim 1, wherein
  3. 　前記エンコーダベース部材及び前記電気回路基板保持部材の少なくとも一方は、前記磁界遮蔽板を収容する凹部が形成されていることを特徴とする請求項１又は２に記載の磁界遮蔽板付きエンコーダ。 3. The encoder with the magnetic field shield plate according to claim 1, wherein at least one of the encoder base member and the electric circuit board holding member is formed with a concave portion that accommodates the magnetic field shield plate. 4.
  4. 　前記電気回路基板保持部材の筒部と、前記磁界遮蔽板とは、非接触であることを特徴とする請求項１から３のいずれか１項に記載の磁界遮蔽板付きエンコーダ。 4. The encoder with the magnetic field shielding plate according to claim 1, wherein the cylindrical portion of the electric circuit board holding member and the magnetic field shielding plate are not in contact with each other. 5.
  5. 　内輪及び外輪を備えたベアリングを有し、
    　前記エンコーダベース部材の前記穴の内周には中心軸に向かってリブ状に張り出す内周突起部が形成されており、
    　前記エンコーダシャフトには、フランジ状に外径方向に突出するベアリング抑えリブが形成されており、
    　前記外輪は、前記内周突起部に固定されており、
    　前記内輪は、前記ベアリング抑えリブに固定されており、
    　前記エンコーダベース部材は、前記ベアリングを介して前記エンコーダシャフトを回転可能に支持していることを特徴とする請求項１から４のいずれか１項に記載の磁界遮蔽板付きエンコーダ。     Having a bearing with an inner ring and an outer ring,
    On the inner circumference of the hole of the encoder base member, an inner circumferential projection projecting in a rib shape toward the central axis is formed,
    On the encoder shaft, bearing suppressing ribs protruding in the outer diameter direction in a flange shape are formed,
    The outer ring is fixed to the inner peripheral projection,
    The inner ring is fixed to the bearing restraining rib,
    The encoder with a magnetic field shielding plate according to any one of claims 1 to 4, wherein the encoder base member rotatably supports the encoder shaft via the bearing.
  6. 　前記磁石の回転を光学的に検出する光センサを備え、
    　前記磁気センサは、バルクハウゼン効果を有する複合磁気ワイヤであり、前記演算素子は、前記光センサの出力に基づいて、前記エンコーダシャフトの１回転内での回転角度を算出し、前記磁気センサの出力に基づいて、前記エンコーダシャフトが回転した回数を算出することを特徴とする請求項１から５のいずれか１項に記載の磁界遮蔽板付きエンコーダ。     An optical sensor that optically detects the rotation of the magnet,
    The magnetic sensor is a composite magnetic wire having a Barkhausen effect, and the arithmetic element calculates a rotation angle within one rotation of the encoder shaft based on an output of the optical sensor, and outputs an output of the magnetic sensor. The encoder with a magnetic field shielding plate according to any one of claims 1 to 5, wherein the number of rotations of the encoder shaft is calculated based on the following formula.
  7. 　前記演算素子は、前記磁気センサの出力に基づいて、前記エンコーダシャフトの１回転内での回転角度を算出することを特徴とする請求項１から５のいずれか１項に記載の磁界遮蔽板付きエンコーダ。 The magnetic field shielding plate according to claim 1, wherein the arithmetic element calculates a rotation angle within one rotation of the encoder shaft based on an output of the magnetic sensor. Encoder.
PCT/JP2018/033832 2018-09-12 2018-09-12 Encoder with magnetic-field-shielding plate WO2020053992A1 (en)

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