公开(公告)号：US4870358A

公开(公告)日：1989-09-26

申请号：US66458

申请日：1987-06-26

申请人： Christian Glaize ,  Guy Lemarquand

发明人： Christian Glaize ,  Guy Lemarquand

IPC分类号： G01B7/30 ,  B25J19/02 ,  G01B7/00 ,  G01D5/20 ,  G01D5/242 ,  H02K29/12

CPC分类号： H02K29/12 ,  B25J19/027 ,  G01D5/242

摘要： An angular position sensor for determining the relative angular position of two relatively rotatable ferromagnetic coaxial components, such as a rotor and stator. The components have the same number of regularly distributed teeth and the teeth in one component are separated by an air gap from the teeth in the other component. A plurality of coils are connected in series with each other and are disposed around the teeth in one of the components and correspond in number to the number of associated teeth. An electric excitation signal having a measurable constant electrical characteristic is fed to the plurality of coils from a source. The characteristic is modulatable in response to variations in the magnetic reluctance of the air gap effected by changes in the relative angular position between the two components. Electronic circuitry is connected to coils for measuring the modulation of the characteristics to determine the relative angular position of the components. In angular position determination apparatus comprising a plurality of angular position sensors, mechanical connections are provided between the rotors on the one hand and the stators on the other. The angular displacement between the rotor and stator teeth differs for each sensor, the difference generally being a multiple of the quotient of 2.pi. by the number of teeth and the number of sensors. The sensor is well adapted for use in the robotics field.

摘要翻译： 用于确定两个相对旋转的铁磁同轴部件（例如转子和定子）的相对角位置的角位置传感器。 这些部件具有相同数量的规则分布的齿，并且一个部件中的齿通过与另一部件中的齿的气隙分开。 多个线圈彼此串联连接，并且在其中一个部件中围绕齿配置并且数量对应于相关联的齿数。 具有可测量的恒定电特性的电激励信号从源馈送到多个线圈。 该特性可以响应于由两个部件之间的相对角位置的变化而产生的气隙的磁阻的变化而可调制。 电子电路连接到用于测量特性调制的线圈，以确定组件的相对角位置。 在包括多个角位置传感器的角位置确定装置中，一方面在转子之间提供机械连接，另一方面提供定子。 对于每个传感器，转子和定子齿之间的角位移不同，差异通常是齿数和传感器数量的2 pi乘数的倍数。 传感器适用于机器人领域。