• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Summary The invention relates to a method and position sensor assembly for determining the position of an abutment between a first object (1) and a second object (2). The position sensor assembly comprises a first body (3), a second body (4), a control unit and a sensor circuit, said first body (3) and said second body (4) being mutually displaceable in relation to each other and said second body (4 ) shows an unambiguous inductance value for habitual position between said first body (3) and said second body (4). The sensor circuit in turn comprises a comparator connected to a first branch comprising said second body (4), a circuit breaker and a food resistor connected in series with each other.
    公开号:SE1351568A1
    申请号:SE1351568
    申请日:2013-12-20
    公开日:2015-06-21
    发明作者:Anders Höglund
    申请人:Freevalve Ab；
    IPC主号:
    专利说明:

    1 METHOD OCR POSITION SENSOR COMPOSITION FOR DETERMINING AN INBOARD POSITION BETWEEN Eli FIRST OBJECT OCR Eli OTHER OBJECTS TECHNICAL FIELD OF THE INVENTION In particular, the present invention relates to a method and position sensor assembly for determining a relative position between, for example, a first arm / child and a second arm / child which are rotatably connected to each other in, for example, a mounting robot or machine.
    The position sensor assembly comprises a first body, a second body, a control unit and a sensor circuit, said first body and said second body being mutually displaceable in relation to each other and said second body having a unique inductance value for each inboard position between said first body and said other body. The sensor circuit in turn comprises a comparator connected to a first branch comprising said second body, a circuit breaker and a food resistor connected in series with each other.
    The present invention will be described in connection with determining the position of the inboard between a first arm / child and a second arm / child without being limited thereto, for example, the present invention can be used for determining the position of the inbar between different arm segments in a mounting robot or machine, or the like, where positioning of objects with high speed must be done with high precision.
    Background of the Invention and Prior Art Position sensor assemblies adapted to determine / follow the position of a first object in relation 2 to a second object known for a long time. Early variants of position sensor assemblies, however, were not sufficiently fast and accurate to be used in connection with objects moving at very high speeds, such as arm segments / bars in a mounting robot or in a "pick and place" robot. In addition to the industry, there are also requirements that the systems used must be robust and show great reliability at minimal cost. Later on, systems have emerged which include a stationary coil / inductor which cooperates with a movable body made of an electrically conductive material, said movable body being connected to a valve of an internal combustion engine and moving continuously therewith.
    See, for example, US 7,032,549, which discloses a position sensor assembly comprising an oscillator, a first body, a coil, a control unit and a sensor circuit, said first body being reciprocally axially displaceable in relation to and outside said coil. The sensor circuit in turn comprises a comparator connected to a first branch comprising said coil, an oscillator and a measuring resistor connected in series with each other. The coil is designed to generate an oscillating magnetic field which in turn induces eddy currents in the displaceable body, which causes the coil to be short-circuited.
    The degree of shorting of the coil varies in proportion to the change of the inboard overlap between the coil and the body. The comparator then determines the position of the valve based on the phase shift between the supply voltage of the oscillator and the voltage above the resistor, whereby the phase shift increases with increasing overlap between the coil and the body.
    However, this position sensor assembly has the disadvantage that it comprises an oscillator, or similar signal generator which provides an alternating voltage signal, which is relatively energy-consuming and the oscillator is continuously in operation. Furthermore, this method comprises partly analog signals, which means that the position of the call can only be determined with a relatively low time and lag resolution.
    Brief Description of the Objects of the Invention The present invention aims to obviate the above-mentioned disadvantages and shortcomings of prior art position sensor assemblies and to provide an improved method and position sensor assembly for determining an inboard position between a first object and a second object. A basic object of the invention is to provide an improved method and position sensor assembly of the initially defined type, whereby determination of the position of the inboard can be carried out with high precision and at the same time low energy access.
    A further object of the present invention is to provide a method which allows selectable distance between inboard isolated determinations of the inboard position.
    It is another object of the present invention to provide a position sensor assembly which is fully digitized, which provides a simple and inexpensive loading which enables you to determine the position of the inboard with high precision.
    It is another object of the present invention to provide a position sensor assembly which is robust and touch-free.
    It is a further object of the present invention to provide a position sensor assembly which comprises few and inexpensive components.
    Brief description of the features of the invention According to the invention, at least the basic object is achieved by means of the initially defined method and the position sensor composition, which features features 4 defined in the independent claims. Preferred embodiments of the present invention are further defined in the dependent claims.
    According to a first aspect of the present invention, there is provided a method of the initially defined type, which comprises the steps of: sending an uplink having a digital input pulse from the control unit to the switch to effect a state change has the switch from the Open to the closed, - detecting a state change has an output signal from the comparator, and determining a relative position between said first body and said second body based on the delay between the input edge of the input signal and the first state change of the output signal, or includes the steps of: sending a digital input to the uplink pulse a state change has the circuit breaker from open to closed, - detecting a first state change has the output signal from the comparator, detecting a second state change has said output signal, and determining an inbound position between said first body and said second body based on none between the first state change of the output signal and the second state change of the output signal.
    According to a second aspect of the present invention, there is provided a position sensor assembly, the sensor circuit comprising: a first branch comprising said second body, a resistor, and a switch having an input operatively connected to said controller for receiving individual digital and input signal pairs. , which is connected to said first branch via a first input for obtaining an instantaneous supply voltage of the resistor, and which further comprises a second input for obtaining an instantaneous reference voltage, and an output operatively connected to said control unit for outputting individual state rings. has a digital output signal based on the incident ratio between said target voltage and said reference voltage.
    Thus, the present invention is based on the insight that by using individual digital input signal pulses and the resulting individual digital output signal pulses, the possibility is obtained of determining the position of the object between a first object and a second object with star time and age output and low energy output.
    According to a preferred embodiment of the present invention, said first state change has the output signal from the comparator one up edge has a digital output pulse, and used in said second state change the output signal from the comparator here a down edge has the said digital output pulse.
    According to a hazardous method, the sensor circuit of the position sensor assembly comprises a feedback branch connected between the output of the comparator and the second input of the comparator. Which means that in the event of a state change, the output signal from the comparator is simplified, the determination of the position of the caller is simplified, due to the fact that the state change is ensured and multiple rapid state changes caused by electrical noise, etc., are eliminated.
    Preferably, the first body of the position sensor assembly is slidable in relation to said second body by being rotatable about a pivot.
    Further features and features of the invention will be apparent from the other independent claims and from the following detailed description of preferred embodiments. Brief Description of the Drawings A more complete understanding of the above and other features and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings, in which: Fig. 1 is a schematic cross-sectional view of a first embodiment of the first body and the second body, Fig. 2 is a schematic cross-sectional view of a second embodiment of the first body and the second body, Fig. 3 is a schematic cross-sectional view of a third embodiment of the first body and the second Fig. 4 is a schematic cross-sectional view of a fourth embodiment of the first body and the second body, Fig. 5 is a schematic cross-sectional view of a fifth embodiment of the first body and the second body, Fig. 6 is a schematic view of a sensor circuit according to a first embodiment, Fig. 7 is a schematic representation of a sensor circuit according to a second embodiment, Fig. 8 is a diagram Fig. 9 is a schematic view of a sensor circuit according to a fourth embodiment, Fig. 9 is a schematic view of a sensor circuit according to a fifth embodiment, and Fig. 11 is a schematic view of a sensor circuit according to a fourth embodiment. sensor circuit according to a sixth embodiment.
    Detailed Description of the Preferred Embodiments References are initially made to Figures 1-5, which schematically show various realizations embodying the present invention. The present invention relates generally to a method and position sensor assembly for determining an in-situ position between a first object 1 and a second object 2, see Figure 1. In the application shown in Figure 1, the first object 1 is constituted by a first arm and the second object 2 of a second arm, for example of a mounting robot (not shown). The first object 1 and the second object 2 are mutually displaceable, and it should be understood that the first object 1 and the second object 2 can be simultaneously displaced relative to a third object (not shown). The third object can, for example, form a stationary part of the mounting robot.
    The first object 1 and the second object 2 are mutually displaceable in relation to each other, however, the present invention will be described below in connection with determining the position of each other between a movable first object 1 and a stationary second object 2 without being limited thereto. ddrtill.
    A position sensor assembly is arranged to determine the position of the internal object between the first object 1 and the second object 2, i.e. determine where the first object 1 is in relation to the second object 2.
    Figures 1-5 show a first body 3 and a second body 4, which are inwardly displaceable in relation to each other and wherein said second body 4 has an unambiguous inductance value for habitual mutual position between said first body 3 and said second body 4. the first body 3 is connectable to the first object 1 and is arranged to be displaced in conjunction with the first object 1, and the second body 4 is connected to the second object 2 and is arranged to be displaced simultaneously with the second object 2. Preferably, the second the body of an inductor, and most preferably of a coil as shown in Figures 1-5.
    In Figure 1, the first body 3 is formed by a bag-shaped segment, and the first body 3 is arranged to be rotated 8 about a pivot pin 5. The second body 4 is formed by a coil which is bent to the same degree as the first body 3. When rotating of the rear segment around the shaft pin 5, the rear segment is pushed relative to the coil, preferably internally about the said coil, whereupon the inductance of the second body 4 is changed. It should be understood that alternatively the first body 3 may be still and the second body 4 may be rotated about the shaft journal 5, and it should be pointed out that this applies to all embodiments. In Figure 1, the first body 3 can be rotated 180 degrees about the shaft journal 5 while maintaining unambiguous values of the inductance of the second body 4.
    In Figure 2, the first body 3 is formed by a valve body or disc, arranged in the second object 2, which consists of a pipe / conduit. The second body 4 is arranged externally or internally on the second object 2. The first body 3 is arranged to rotate about the shaft pin 5, and upon rotation of the first body 3 the inductance of the second body 4 changes. In Figure 2, the first body 3 can be rotated 90 degrees about the shaft journal 5 while maintaining unambiguous values of the inductance of the second body 4.
    Figures 3 and 4 show alternative embodiments of the first body 3, which when rotated about the shaft pin 5 change the inductance of the second body 4. In Figure 3, the first body 3 can be rotated 360 degrees about the shaft journal 5, and in Figure 4, the first body can be rotated 180 degrees about the shaft journal 5, while obtaining unambiguous values of the inductance of the second body 4.
    Figure 5 shows a fifth embodiment in which the second body 4 is differently shaped and the first body 3 is arranged to be completely surrounded by the second body 4, whereby an axial displacement of the first body 3 and the second body 4 means that the second body 4 4 inductance dndras.
    Reference is now made to Figure 6 which shows a schematic representation of a sensor circuit according to a first embodiment. The position sensor assembly comprises the first body 3 connectable to said first object 1, the second body 4, for example a coil or an inductor, connectable to said second object 2, a control unit (not shown) and a sensor circuit, generally designated 6.
    The first body 3 consists of an electrically conductive body, preferably made of a non-magnetic metal such as aluminum. However, it is conceivable that said first body 3 is made of a magnetic metal, such as a compressed iron powder body. It should be noted that the first body 3 may constitute the first object 1.
    The second body 4 will hereinafter be referred to as the coil 4.
    The coil 4 is dangerously arranged in a sate (not shown) of the second object 2. The coil 4 is dangerously made of copper and comprises a large number of windings.
    The sensor circuit 6 comprises a first branch and a comparator 7. The first branch of the sensor circuit 6 comprises said coil 4, a switch 8 with an input 9 operatively connected to said control unit for input of individual digital input signal pulses and a measuring resistor 10, the coil 4, the switch 8 and the food resistors 10 are connected in series with each other. Furthermore, said first branch is connected between a voltage source 11 and ground, which voltage source 11 is preferably about +5 volts. It should be noted that said coil may consist of two series-connected coils, of which a first coil belongs to a first valve and a second coil belongs to a second valve, provided that the first valve and the second valve do not have overlapping valve lifting curves.
    The comparator 7 comparator 7 is connected to said first branch via a first input 12 for obtaining an instantaneous supply voltage of the feed resistor 10, and comprises a second input 13 for obtaining an instantaneous reference voltage and an output 14 operatively connected to said control unit for outputting individual state changes. at a digital output signal.
    The comparator 7 is designed to obtain and compare instantaneous supply voltage across the supply resistor 10 and instantaneous reference voltage, and is arranged to generate a state change having the digital output signal based on the current ratio between the supply voltage and the reference voltage. A state change has the digital output signal from the output 14 of the comparator 7 generated when the supply voltage and the reference voltage change the magnitude of the current, i.e. others inboard order rowing which value is greatest between them.
    The position sensor assembly works in the following way. When the first body 3 is displaced / rotated in relation to the coil 4, the overlap between the first body 3 and the coil 4 changes (more specifically the magnetic field of the coil 4), and then the influence from the first body 3 on the magnetic field of the coil 4 decreases. the food voltage of another is determined in color in proportion thereto, due to the fact that the coil 4 is short-circuited to varying degrees of influence from the first body 3. The food voltage of the food resistance 10 is different when the voltage across coil 4 is different, and the voltage across coil 4 is different. of a state change of the switch 8 from Open to closed takes place. In the context of the common inventive concept of the present invention, the said Change Access Time can be determined according to two procedures, which procedures make a consistent contribution to prior art, but which are realizations of the same basic idea which do not tend to be defined unanimously.
    The method according to the invention comprises according to the first method the steps of sending an uplink, or positive edge, having a digital input signal pulse from the control unit to the switch 8 to cause a state change of the switch 8 from open to closed, detecting a first state change from the output signal. , and determining an inboard position between said first body 3 and said coil 4 based on the time delay 11 between the up edge of the input signal pulse and the first state change of the output signal.
    According to the second method, the method according to the invention comprises the steps of sending an uplink having a digital input signal pulse from the control unit to the circuit breaker 8 to effect a state change has the circuit breaker 8 from open to closed, detecting a first state change has the output signal from the comparator 7, has said output signal, and determining an inboard position between said first body 3 and said coil 4 based on the time delay between the first state change of the output signal and the second state change of the output signal.
    The above-mentioned first method is based on a sensor circuit structure in which there is a time delay between the uplink of the input signal pulse and the first state change of the output signal. The above-mentioned second method is based instead on a sensor circuit structure in which the edge of the input signal pulse and the first state change of the output signal take place simultaneously.
    Preferably, said first state change has the output signal from the comparator 7, an uplink has a digital output pulse, said second state change having the output signal from the comparator 7, where a down edge has said digital output pulse.
    According to a preferred embodiment, the above-mentioned first method also comprises the step of, based on the detection of said first state change, having the output signal from the comparator 7, sending a down edge, or negative edge, has the said digital input pulse from the control unit to the switch 8 to provide switch 8 from closed to Open. According to a hazardous embodiment, the above-mentioned second method further comprises the step of, based on the detection of said second state change having the output signal from the comparator 7, sending a downlink has said digital input signal from the control unit to the switch 8 to effect a state change 8 to the current switch 8. . In other words, the duration of the digital input pulse must be kept as short as possible to save energy.
    A great advantage of the present invention is that determining the position of the inboard between the first object 1 and the second object 2 can be chosen to be done only when there is a purpose to determine the position of the inboard, for example when the first object 1 is in motion.
    Hereinafter, a number of embodiments of the sensor circuit 6 of the position sensor assembly will be described, all of which have in common that the sensor circuit 6 comprises a second branch which is connected between the voltage source 11 and ground, and which comprises a first reference resistor 15 and a second reference resistor 16, which are connected in series with each other, the second input 13 of the comparator 7 being connected to said second branch at a point beldgen between said first reference resistor 15 and said second reference resistor 16.
    Furthermore, the first input 12 of the comparator 7 is connected to the first branch at said point between the said resistor 10 and the coil 4.
    In order to function according to the above-mentioned first method, the sensor circuit 6 can be realized, for example, in accordance with Figure 7, which shows a schematic representation of the sensor circuit 6 according to a second embodiment, or in accordance with Figure 8, which shows a schematic representation of the sensor circuit 6 according to a third embodiment. Common to these embodiments is that the coil 4 is located between the voltage switch 11 and the point on the first branch connected to the first input 12 of the comparator 7. It should be noted that the position of the circuit breaker 8 in relation to the coil 4 and the resistor 10 is freely selectable. In the third embodiment shown in Fig. 8, the sensor circuit 6, in addition to that shown in the second embodiment according to Fig. 7, comprises a feedback branch 17, or amplification branch, connected between the output 14 13 of the comparator 7 and the second input 13 of the comparator 7, for securing the state change has the output signal of the comparator 7 to eliminate multiple rapid state changes caused by electrical noise, etc.
    In order to function according to the above-mentioned second method, the sensor circuit 6 can for instance be realized according to Fig. 9 which shows a schematic representation of the sensor circuit 6 according to a fourth embodiment, or according to Fig. 10 which shows a schematic representation of the sensor circuit 6 according to a fifth embodiment. Common to these embodiments is that the food resistor 10 is located between the voltage head 11 and the point on the first branch connected to the first input 12 of the comparator 7. It should be noted that the position of the switch 8 in relation to the coil 4 and the food resistor 10 is freely selectable. In the fourth embodiment shown in Figure 9, the sensor circuit 6, in addition to that shown in the fifth embodiment according to Figure 10, comprises a feedback branch 17, or amplification branch, connected between the output 14 of the comparator 7 and the second input 13 of the comparator 7.
    Figure 11 shows a schematic representation of the sensor circuit 6 according to a sixth method, which sensor circuit Or is realized to operate according to the above-mentioned second method. In this embodiment, the sensor circuit comprises a feedback branch 17, or amplification branch, connected between the output 14 of the comparator 7 and the first input 12 of the comparator 7, and the food resistor 10 Or coated between the voltage head 11 and the point on the first branch connected to the first input 12 of the comparator 7. Furthermore, the adjacent switch 8 is arranged adjacent ground, and that the sensor circuit 6 comprises a synchronizing resistor 18 which Or is connected in parallel across the switch 8, the first branch and second branch Or of the sensor circuit 6 each connected in series with the sable synchronizing resistor 18 as the switch 8. Inventive modifications of the invention. The invention is not limited only to the embodiments described above and shown in the drawings, which have only illustrative and exemplary purposes. This patent application is intended to appreciate all the modifications and variations of the preferred embodiments described herein, and accordingly, the present invention is defined by the wording of the appended claims and their equivalents. Thus, the equipment can be modified in any conceivable way under the enclosed requirements.
    It should also be noted that all information on terms such as above, below, byre, lower, etc., should be interpreted / read with the equipment oriented in accordance with the figures, with the drawings oriented in such a way that the reference numerals can be read correctly. Suedes, indicates such terms only embedded conditions in the embodiments shown, which conditions can be changed if the equipment according to the invention is provided with a different construction / design.
    It should be noted that even if it is not explicitly stated that features from a specific design can be combined with features from another design, this should be considered as obvious as possible.
    权利要求:
    Claims (13)
    [1]
    Sending an uplink has a digital input signal pulse from the control unit to the switch (8) to effect a state change of the switch (8) from Open to closed, - in the control unit detecting a first state change has the output signal from the comparator (7),
    [2]
    2. in the control unit detecting a second state change has said output signal, and
    [3]
    3. determining an inboard position between said first body (3) and said second body (4) based on the time delay between the first state change of the output signal and the second state change of the output signal, also comprising the step of:
    [4]
    4. based on the detection of said second state change, the output signal from the comparator (7), sending a downlink has said digital input signal pulse from the control unit to the switch (8) to effect a state change, the switch (8) is then closed to the open.
    [5]
    Position sensor assembly for determining the position of an object between a first object (1) and a second object (2), said position sensor assembly comprising: a first body (3) connectable to said first object (1), a second body (4) connectable with said second object (2), a control unit and a sensor circuit (6), said first body (3) and said second body (4) being inwardly displaceable in relation to each other and said second body (4) having a unique inductance value For each inboard position between said first body (3) and said second body (4), the sensor circuit (6) comprises: a first branch comprising said second body (4), a switch (8) having an input operatively connected to said control unit for receiving individual digital input signal pulses and a measuring resistor (10), the second body (4), the circuit breaker (8) and the food resistor (10) being connected in series with each other, a comparator (7) which is connected to said far branch via a first input (12) to obtain an instantaneous supply voltage across the resistor (10), and which further comprises a second input (13) for obtaining an instantaneous reference voltage, and an output (14) operatively connected to said control unit for output of individual state changes of a digital output signal based on the internal ratio between said intermediate voltage and said reference voltage.
    [6]
    Position sensor assembly according to claim 5, wherein the sensor circuit (6) comprises a feedback branch (17) connected between the output (14) of the comparator (7) and the second input (13) of the comparator (7).
    [7]
    Position sensor assembly according to claim 5 or 6, comprising the first branch Or of the sensor circuit (6) connected between a voltage source (11) and ground, and vane of the sensor circuit (6) comprising a second branch connected between the voltage head (11) and ground, and comprising a first reference resistor (15) and a second reference resistor (16), which Or are connected in series with each other, the second input (13) of the comparator (7) being connected to said second branch at a point located between said first reference resistor ( 15) and said second reference resistor (16).
    [8]
    A position sensor assembly according to claim 7, comprising the switch (8) or adjacent ground.
    [9]
    The position sensor assembly according to claim 8, wherein the sensor circuit (6) comprises a synchronizing resistor (18) connected in parallel across the circuit breaker (8), the first branch and second branch of the sensor circuit (6) each 19 being connected in series with the synchronous resistance resistor (18). as the switch (8).
    [10]
    A position sensor assembly according to any one of claims 5-9, 5 used in said first body (3) is constituted by an electrically conductive body, preferably made of aluminum.
    [11]
    A position sensor assembly according to any one of claims 510, used in said first body (3) is displaceable in relation to said second body (4).
    [12]
    A position sensor assembly according to claim 10, wherein said first body (3) is rotatable about a shaft pin (5).
    [13]
    A position sensor assembly according to any one of claims 512, the vane of said second body (4) being constituted by a coil. 1/9
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    同族专利:
    公开号 | 公开日
    EP3084155A4|2017-10-18|
    JP2017503166A|2017-01-26|
    RU2016129298A|2018-01-25|
    KR20160101169A|2016-08-24|
    CN106062325A|2016-10-26|
    RU2675434C1|2018-12-19|
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    SE537654C2|2015-09-22|
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    法律状态:
    2021-08-03| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1351568A|SE537654C2|2013-12-20|2013-12-20|Method and position sensor composition for determining the relative position between a first object and a second object|SE1351568A| SE537654C2|2013-12-20|2013-12-20|Method and position sensor composition for determining the relative position between a first object and a second object|
    US15/105,205| US20160320209A1|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
    JP2016541642A| JP2017503166A|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
    RU2016129298A| RU2675434C1|2013-12-20|2014-12-19|Method and position sensor arrangement for determining mutual location of first object and second object|
    PCT/SE2014/051541| WO2015094110A1|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
    KR1020167019813A| KR20160101169A|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
    CN201480074774.7A| CN106062325A|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
    EP14872903.1A| EP3084155A4|2013-12-20|2014-12-19|Method and position sensor arrangement for determining the mutual location of a first object and a second object|
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