Encoder, servo motor, servo system, and encoder control method

Patent metadata

Field	Value
Publication number	US-11994388-B2
Application number	US-202217707306-A
Country	US
Kind code	B2
Filing date	Mar 29, 2022
Priority date	Apr 9, 2021
Publication date	May 28, 2024
Grant date	May 28, 2024

Abstract

An encoder includes: an optical module that detects angular position information indicating an angular position of a rotating disk within one rotation thereof; a magnetic detecting unit that detects multi-rotation information indicating the number of rotations of the disk; a battery that supplies a power to the magnetic detecting unit when an external power is not supplied to the encoder; and a connector that connects connection terminals of the battery to a substrate to which at least one of the optical module and the magnetic detecting unit is connected, via solders in contact with the connection terminals.

First claim

What is claimed is:

1. An encoder comprising:
an angular position information detector configured to detect angular position information indicating an angular position of a rotating disk within one rotation thereof;
a multi-rotation information detector including an MR element and configured to detect multi-rotation information indicating a number of rotations of the disk;
an all-solid state battery including a solid electrolyte and configured to supply a power to the multi-rotation information detector when an external power is not supplied to the encoder;
a connector configured to connect a connection terminal of the all-solid state battery to a substrate to which at least one of the angular position information detector and the multi-rotation information detector is connected, via a solder in contact with the connection terminal;
a first magnet serving as a multi-rotation magnet and of which magnetic flux being detected by the multi-rotation information detector;
an electric signal generator configured to generate an electric signal that serves as a trigger for supplying the power of the all-solid-state battery to the multi-rotation information detector based on the rotation of the disk; and
a second magnet different from the first magnet, serving as a trigger magnet, and of which magnetic flux is detected by the electric signal generator.

2. The encoder according to claim 1 , further comprising:
a charger configured to charge the all-solid-state battery when the external power is supplied, and to stop the charging of the all-solid-state battery when the external power is not supplied.

3. The encoder according to claim 2 , further comprising:
a rectifier electrically connected between the charger and the all-solid-state battery, and configured to regulate a current direction to a direction from the charger toward the all-solid-state battery.

4. The encoder according to claim 2 , further comprising:
a control processor configured to generate position data of the disk based on at least one of the angular position information and the multi-rotation information, when the external power is supplied,
wherein the charger and the processor are connected to a power supply line of the external power, to be electrically parallel with each other.

5. The encoder according to claim 4 , wherein when a supply of the external power is stopped, the control processor enters a sleep mode by the power from the battery.

6. The encoder according to claim 5 , further comprising:
an electric signal generator configured to generate an electric signal in response to a rotation of the disk,
wherein the control processor receives the electric signal to be restored from the sleep mode and start the power supply to the multi-rotation information detector.

7. The encoder according to claim 1 , further comprising:
a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply,
wherein the control processor executes a predetermined arithmetic process based on the multi-rotation information detected by the multi-rotation information detector.

8. The encoder according to claim 7 , wherein the control processor stops the power supply from the battery to the multi-rotation information detector, after acquiring the multi-rotation information from the multi-rotation information detector and before starting the predetermined arithmetic process.

9. The encoder according to claim 7 , further comprising:
a nonvolatile memory capable of recording and reading data and maintaining recorded contents even when a power is OFF,
wherein the control processor records a result of the predetermined arithmetic process in the nonvolatile memory.

10. The encoder according to claim 1 , further comprising:
a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply,
wherein a state in which the external power is not supplied is restored to a state in which the external power is supplied, the control processor executes a process of detecting an abnormality of the battery.

11. The encoder according to claim 1 , further comprising:
a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply,
wherein the control processor is provided on the substrate, and
generates first position data of the disk based on at least one of the angular position information and the multi-rotation information when the external power is supplied, and
generates second position data of the disk based on the multi-rotation information detected by the multi-rotation information detector using the power supplied from the battery, when the external power is not supplied.

12. A servo motor comprising:
a motor in which a rotor rotates around a stator; and
the encoder of claim 1 configured to detect at least one of a position, speed, and acceleration of the rotor.

13. The encoder according to claim 1 , wherein the first magnet is disposed on a rotational axis of the disk.

14. The encoder according to claim 13 , wherein the second magnet is disposed at an outer peripheral side of the first magnet in a radial direction around the rotational axis of the disk.

15. The encoder according to claim 1 , wherein the disk includes a slit array including a plurality of slits that is detected by the angular position information detector, and the slit array is disposed between the magnet and the electric signal generator in a direction of a rotational axis of the disk.

16. The encoder according to claim 1 , wherein:
the angular position information detector includes an optical module and is disposed on a surface of the substrate that faces the disk, and
the electric signal generator is disposed on a surface the substrate that is opposite to the disk.

17. The encoder according to claim 1 , wherein the connector connects the connection terminal that is integrally provided on the all-solid-state battery to the substrate via the solder.

18. The encoder according to claim 1 , wherein the all-solid state battery includes a pair of connection terminals provided at both ends thereof in a direction parallel to the substrate.

19. A method of controlling an encoder, comprising:
providing the encoder including:
an angular position information detector configured to detect angular position information indicating an angular position of a rotating disk within one rotation thereof;
a multi-rotation information detector including an MR element and configured to detect multi-rotation information indicating a number of rotations of a disk;
an all-solid state battery including a solid electrolyte and configured to supply a power to the multi-rotation information detector when an external power is not supplied to the encoder;
a connector configured to connect a connection terminal of the all-solid state battery to a substrate to which at least one of the angular position information detector and the multi-rotation information detector is connected, via a solder in contact with the connection terminal;
a first magnet serving as a multi-rotation magnet and of which magnetic flux being detected by the multi-rotation information detector;
an electric signal generator configured to generate an electric signal that serves as a trigger for supplying the power of the all-solid-

Assignees

• Yaskawa Electric Corp

Inventors

• Inoue Ryo
• Murokita Ikuma
• Sadakane Kenichi
• Harada Masanobu
• Arinaga Yuji
• Matsutani Yasuhiro

Classifications

• H02J7/933

  the cycle being controlled or terminated in response to electric parameters · CPC title

• H02J7/865

  Battery or charger load switching, e.g. concurrent charging and load supply (H02J7/50 takes precedence) · CPC title

• Y02E60/10

  Energy storage using batteries · CPC title

• G01B7/30 Primary

  for measuring angles or tapers; for testing the alignment of axes · CPC title

• G01D5/16

  by varying resistance · CPC title