Multi-turn absolute rotation angle detection device and method of detecting absolute rotation angle
First Claim
1. A multi-turn rotation angle detection apparatus comprising:
- a main shaft gear mounted on a main shaft;
a first counter-shaft gear and a second counter-shaft gear adapted to mesh with the main shaft gear;
a first counter-shaft and a second counter-shaft adapted to transmit rotations of the first counter-shaft gear and the second counter-shaft gear, respectively;
a set of angle detectors including (i) a main shaft angle detector adapted to detect a rotation angle of the main shaft, (ii) a first counter-shaft angle detector adapted to detect a rotation angle of the first counter-shaft, and (iii) a second counter-shaft angle detector adapted to detect a rotation angle of the second counter-shaft, where the main shaft angle detector is adapted to output N cycles of an N-fold angle detection value P0(NX) per rotation of the main shaft, the first counter-shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P1(1X) per rotation of the first counter-shaft, and the second-counter shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P2(1X) per rotation of the second counter-shaft ; and
a gear mechanism having a teeth number difference of a two or larger integer A between the first counter-shaft gear and the main shaft gear, and a teeth number difference of 1 between the main shaft gear and the second counter-shaft gear, a number of teeth of the first counter-shaft gear being an integer multiple of a product of the teeth number difference of the two or larger integer A and a shaft angle multiplier N of the main shaft angle detector;
wherein;
a multi-turn absolute rotation angle of the main shaft is determined from rotation angle detection values of the main shaft, the first counter-shaft, and the second counter-shaft;
andthe multi-turn rotation angle detection apparatus further comprises;
a main shaft rotation angle detection means adapted to (i) determine a signal P0(((AN)/M)xX) one cycle of which corresponds to M/(AN) rotations of the main shaft from the N-fold angle detection value P0(NX) detected by the main shaft angle detector and the 1-fold angle detection value P1(1X) of the first counter-shaft detected by the first counter-shaft angle detector, M being the number of teeth of the first counter-shaft gear, (ii) obtain a discrimination value, which indicates to which cycle of the N cycles the N-fold angle detection value P0(NX) detected by the main shaft angle detector belongs, from the signal P0(((AN)/M)xX), and (iii) synthesize one cycle of a 1-fold angle detection value P0(1X) of the main shaft per rotation of the main shaft from the discrimination value and the N-fold angle detection value P0(NX); and
a main shaft rotation count detection means adapted to (i) generate a first counter-shaft periodic signal, which represents a difference in a rotation count of the main shaft and a rotation count of the first counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P1(1X) of the first counter-shaft, (ii) generate a second counter-shaft periodic signal, which represents a difference in the rotation count of the main shaft and a rotation count of the second counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P2(1X) of the second counter-shaft detected by the second counter-shaft angle detector, and (iii) determine the rotation count of the main shaft from the first counter-shaft periodic signal and the second counter-shaft periodic signal.
1 Assignment
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Accused Products
Abstract
This detection device is configured from a gear mechanism (1) provided with first to third counter-shaft gears that mesh with a main-shaft gear (10b), and has a relationship in which the difference between the numbers of teeth of the main-shaft gear and the first counter-shaft gear is two or an integer (a) exceeding two, the difference between the numbers of teeth of the main-shaft gear and the second counter-shaft gear is one, and the number of teeth of the first counter-shaft gear is an integral multiple of the product of the difference of the number of teeth thereof from that of the main-shaft gear and the shaft angle multiplier of a main shaft detector. The detected values of angle detectors (RS0-RS3) are given as digitized angle detected values (P0(4X), P1(1X), P2(1X), P3(1X)) to a multi-turn arithmetic circuit (25). The determination region of the detected value (P0(4X)) of a main shaft is determined, and the rotation angle of the main shaft is found. Further, periodic signal values indicating the differences in rotation angle between the main shaft and first to third counter shafts are generated, respectively, and on the basis of a combination of the relative numbers of rotations of the first to third counter shafts found from the respective periodic signal values, the number of rotations of the main shaft is found. The multi-turn absolute rotation angle can be obtained by adding the rotation angle to the number of rotations of the main shaft.
30 Citations
20 Claims
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1. A multi-turn rotation angle detection apparatus comprising:
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a main shaft gear mounted on a main shaft; a first counter-shaft gear and a second counter-shaft gear adapted to mesh with the main shaft gear; a first counter-shaft and a second counter-shaft adapted to transmit rotations of the first counter-shaft gear and the second counter-shaft gear, respectively; a set of angle detectors including (i) a main shaft angle detector adapted to detect a rotation angle of the main shaft, (ii) a first counter-shaft angle detector adapted to detect a rotation angle of the first counter-shaft, and (iii) a second counter-shaft angle detector adapted to detect a rotation angle of the second counter-shaft, where the main shaft angle detector is adapted to output N cycles of an N-fold angle detection value P0(NX) per rotation of the main shaft, the first counter-shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P1(1X) per rotation of the first counter-shaft, and the second-counter shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P2(1X) per rotation of the second counter-shaft ; and a gear mechanism having a teeth number difference of a two or larger integer A between the first counter-shaft gear and the main shaft gear, and a teeth number difference of 1 between the main shaft gear and the second counter-shaft gear, a number of teeth of the first counter-shaft gear being an integer multiple of a product of the teeth number difference of the two or larger integer A and a shaft angle multiplier N of the main shaft angle detector; wherein; a multi-turn absolute rotation angle of the main shaft is determined from rotation angle detection values of the main shaft, the first counter-shaft, and the second counter-shaft; and the multi-turn rotation angle detection apparatus further comprises; a main shaft rotation angle detection means adapted to (i) determine a signal P0(((AN)/M) x X) one cycle of which corresponds to M/(AN) rotations of the main shaft from the N-fold angle detection value P0(NX) detected by the main shaft angle detector and the 1-fold angle detection value P1(1X) of the first counter-shaft detected by the first counter-shaft angle detector, M being the number of teeth of the first counter-shaft gear, (ii) obtain a discrimination value, which indicates to which cycle of the N cycles the N-fold angle detection value P0(NX) detected by the main shaft angle detector belongs, from the signal P0(((AN)/M)xX), and (iii) synthesize one cycle of a 1-fold angle detection value P0(1X) of the main shaft per rotation of the main shaft from the discrimination value and the N-fold angle detection value P0(NX); anda main shaft rotation count detection means adapted to (i) generate a first counter-shaft periodic signal, which represents a difference in a rotation count of the main shaft and a rotation count of the first counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P1(1X) of the first counter-shaft, (ii) generate a second counter-shaft periodic signal, which represents a difference in the rotation count of the main shaft and a rotation count of the second counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P2(1X) of the second counter-shaft detected by the second counter-shaft angle detector, and (iii) determine the rotation count of the main shaft from the first counter-shaft periodic signal and the second counter-shaft periodic signal. - View Dependent Claims (2, 3, 4, 5)
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6. A multi-turn rotation angle detection method for a multi-turn rotation angle detection apparatus, the multi-turn rotation angle detection apparatus comprising:
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a main shaft gear mounted on a main shaft which transmits rotation of a rotational drive source; a first counter-shaft gear and second counter-shaft gear adapted to mesh with the main shaft gear; a first counter-shaft and second counter-shaft adapted to transmit rotations of the first counter-shaft gear and the second counter-shaft gear, respectively; a set of angle detectors including (i) a main shaft angle detector adapted to detect a rotation angle of the main shaft, (ii) a first counter-shaft angle detector adapted to detect a rotation angle of the first counter-shaft, and (iii) a second counter-shaft angle detector adapted to detect a rotation of the second counter-shaft, where the main shaft angle detector is adapted to output N cycles of an N-fold angle detection value P0(NX) per rotation of the main shaft, the first counter-shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P1(1X) per rotation of the first counter-shaft, and the second counter shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P2(1X) per rotation of the second counter-shaft; and a gear mechanism having a teeth number difference of a two or a larger integer A between the first counter-shaft gear and the main shaft gear, and a teeth number difference of 1 between the main shaft gear and the second counter-shaft gear, a number of teeth of the first counter-shaft gear being an integer multiple of a product of the teeth number difference of the two or larger integer A and a shaft angle multiplier N of the main shaft angle detector; wherein; a multi-turn absolute rotation angle of the main shaft is determined from rotation angle detection values of the main shaft, the first counter-shaft, and the second counter-shaft; and the multi-turn rotation angle detection method comprising; detecting with the main shaft angle detector the N cycles of the N-fold angle detection value P0(NX) per rotation of the main shaft, which is the rotation angle of the main shaft; detecting with the first counter-shaft angle detector one cycle of a 1-fold angle detection value P1(1X) of the first counter-shaft per rotation of the first counter-shaft, which is the rotation angle of the first counter-shaft; detecting with the second counter-shaft angle detector one cycle of a 1-fold angle detection value P2(1X) of the second counter-shaft per rotation of the second counter-shaft, which is the rotation angle of the second counter-shaft; determining a signal P0((AN/M)xX) one cycle of which corresponds to M/(AN) rotations of the main shaft from the N-fold angle detection value P0(NX) and the 1-fold angle detection value P1(1X) of the first counter-shaft, where M is the number of teeth of the first counter-shaft gear; obtaining from the signal P0((AN/M)xX) a discrimination value, which indicates to which cycle of the N cycles the N-fold angle detection value P0(NX) belongs, and thereby determining a rotation angle within one rotation of the main shaft; synthesizing one cycle of a 1-fold angle detection value P0(1X) of the main shaft per rotation of the main shaft from the discrimination value and the N-fold angle detection value P0(NX); generating a first counter-shaft periodic signal, which represents a difference in a rotation count of the main shaft and a rotation count of the first counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P1(1X) of the first counter-shaft; generating a second counter-shaft periodic signal which represents a difference in a rotation count of the main shaft and a rotation count of the second counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P2(1X) of the second counter-shaft; and determining the rotation count of the main shaft from the first counter-shaft periodic signal and the second counter-shaft periodic signal. - View Dependent Claims (7, 8, 9, 10)
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11. A multi-turn rotation angle detection apparatus comprising:
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a main shaft gear mounted on a main shaft; a first counter-shaft gear and a second counter-shaft gear adapted to mesh with the main shaft gear; a first counter-shaft and a second counter-shaft adapted to transmit rotations of the first counter-shaft gear and the second counter-shaft gear, respectively; a set of angle detectors including (i) a main shaft angle detector adapted to detect a rotation angle of the main shaft, (ii) a first counter-shaft angle detector adapted to detect a rotation angle of the first counter-shaft, and (iii) a second counter-shaft angle detector adapted to detect a rotation angle of the second counter-shaft, where the main shaft angle detector is adapted to output N cycles of an N-fold angle detection value P0(NX) per rotation of the main shaft, the first counter-shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P1(1X) per rotation of the first counter-shaft, and the second counter shaft angle detector is adapted to output one cycle of a 1-fold angle detection value P2(1X) per rotation of the second counter-shaft; and a gear mechanism having a teeth number difference of a two or larger integer A between the first counter-shaft gear and the main shaft gear, and a teeth number difference of 1 between the main shaft gear and the second counter-shaft gear, a number of teeth of the first counter-shaft gear being an integer multiple of a product of the teeth number difference of the two or larger integer A and a shaft angle multiplier N of the main shaft angle detector; wherein; a multi-turn absolute rotation angle of the main shaft is determined from rotation angle detection values of the main shaft, the first counter-shaft, and the second counter-shaft; and the multi-turn rotation angle detection apparatus further comprises; a main shaft rotation angle detection mechanism adapted to (i) determine a signal P0(((AN)/M)xX) one cycle of which corresponds to M/(AN) rotations of the main shaft from the N-fold angle detection value P0(NX) detected by the main shaft angle detector and the 1-fold angle detection value P1(1X) of the first counter-shaft detected by the first counter-shaft angle detector, M being the number of teeth of the first counter-shaft gear, (ii) obtain a discrimination value, which indicates to which cycle of the N cycles the N-fold angle detection value P0(NX) detected by the main shaft angle detector belongs, from the signal P0(((AN)/M)xX), and (iii) synthesize one cycle of a 1-fold angle detection value P0(1X) of the main shaft per rotation of the main shaft from the discrimination value and the N-fold angle detection value P0(NX); and a main shaft rotation count detection mechanism adapted to (i) generate a first counter-shaft periodic signal, which represents a difference in a rotation count of the main shaft and a rotation count of first counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P1(1X) of the first counter-shaft, (ii) generate a second counter-shaft periodic signal, which represents a difference in the rotation count of the main shaft and a rotation count of the second counter-shaft, from the 1-fold angle detection value P0(1X) of the main shaft and the 1-fold angle detection value P2(1X) of the second counter-shaft detected by the second counter-shaft angle detector, and (iii) determine the rotation count of the main shaft from the first counter-shaft periodic signal and the second counter-shaft periodic signal. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification