U.S. patent application number 16/123964 was filed with the patent office on 2019-01-17 for method of manufacturing rotary scale, rotary scale, rotary encoder, driving apparatus, image pickup apparatus and robot apparatus.
The applicant listed for this patent is CANON PRECISION INC.. Invention is credited to Haruhiko Horiguchi, Masahiko Igaki.
Application Number | 20190017848 16/123964 |
Document ID | / |
Family ID | 54782599 |
Filed Date | 2019-01-17 |
United States Patent
Application |
20190017848 |
Kind Code |
A1 |
Horiguchi; Haruhiko ; et
al. |
January 17, 2019 |
METHOD OF MANUFACTURING ROTARY SCALE, ROTARY SCALE, ROTARY ENCODER,
DRIVING APPARATUS, IMAGE PICKUP APPARATUS AND ROBOT APPARATUS
Abstract
A method of manufacturing a rotary scale to be fixed to a
rotating shaft of a rotating member includes a first step of
forming, on a scale substrate, a scale pattern and a mark
indicating an outer shape of the rotating shaft positioned such
that a center axis of the rotating shaft coincides with a center
axis of the scale pattern, a second step of cutting a first area of
the scale substrate including the mark and having a first width,
and a third step of cutting a second area including the mark that
remains after the cutting of the first area, having a length in a
circumferential direction of the scale substrate shorter than that
in the first area and having a second width narrower than the first
width.
Inventors: |
Horiguchi; Haruhiko; (Tokyo,
JP) ; Igaki; Masahiko; (Yokohama-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
CANON PRECISION INC. |
Hirosaki-shi |
|
JP |
|
|
Family ID: |
54782599 |
Appl. No.: |
16/123964 |
Filed: |
September 6, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14958125 |
Dec 3, 2015 |
10094684 |
|
|
16123964 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01D 5/24442 20130101;
H04N 7/18 20130101; Y10S 901/47 20130101; G01D 5/34738 20130101;
G01D 5/3473 20130101; B25J 17/00 20130101; G01D 5/34707 20130101;
B25J 19/021 20130101 |
International
Class: |
G01D 5/347 20060101
G01D005/347; H04N 7/18 20060101 H04N007/18; B25J 17/00 20060101
B25J017/00; G01D 5/244 20060101 G01D005/244; B25J 19/02 20060101
B25J019/02 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 26, 2015 |
JP |
2015-012322 |
Claims
1. A rotary scale to be fixed to a rotating shaft of a rotating
member, the rotary scale comprising: a scale pattern; and a
protrusion formed by cutting a first area of the rotary scale that
includes a mark indicating an outer shape of the rotating shaft
positioned such that a center axis of the rotating shaft coincides
with a center axis of the scale pattern and that has a first width
and then cutting a second area, the second area including the mark
that remains after the cutting of the first area, having a length
in a circumferential direction of the rotary scale shorter than
that in the first area and having a second width narrower than the
first width.
2. The rotary scale according to claim 1, wherein the protrusion is
provided at least three locations in the circumferential
direction.
3. The rotary scale according to claim 1, wherein the protrusion is
provided more inside than the scale pattern.
4. The rotary scale according to claim 1, wherein the protrusion is
provided more outside than the scale pattern.
5. The rotary scale according to claim 1, wherein the protrusion
has a taper shape formed by cutting the first area.
6. A rotary encoder comprising: a rotary scale to be fixed to a
rotating shaft of a rotating member; and a detector configured to
detect light reflected by the rotary scale, wherein the rotary
scale includes: a scale pattern; and a protrusion formed by cutting
a first area of the rotary scale that includes a mark indicating an
outer shape of the rotating shaft positioned such that a center
axis of the rotating shaft coincides with a center axis of the
scale pattern and that has a first width and then cutting a second
area, the second area including the mark that remains after the
cutting of the first area, having a length in a circumferential
direction of the rotary scale shorter than that in the first area
and having a second width narrower than the first width.
7. A driving apparatus comprising: a driver configured to rotate a
rotating member; and a rotary encoder provided with a rotary scale
to be fixed to a rotating shaft of the rotating member and a
detector configured to detect light reflected by the rotary scale,
wherein the rotary scale includes: a scale pattern; and a
protrusion formed by cutting a first area of the rotary scale that
includes a mark indicating an outer shape of the rotating shaft
positioned such that a center axis of the rotating shaft coincides
with a center axis of the scale pattern and that has a first width
and then cutting a second area, the second area including the mark
that remains after the cutting of the first area, having a length
in a circumferential direction of the rotary scale shorter than
that in the first area and having a second width narrower than the
first width.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Division, and claims the benefit, of
U.S. patent application Ser. No. 14/958,125, presently pending and
filed on Dec. 3, 2015, and claims the benefit of, and priority to,
Japanese Patent Application No. 2015-012322, filed on Jan. 26,
2015, which applications are hereby incorporated by reference
herein in their entireties.
BACKGROUND OF THE INVENTION
Field of the Invention
[0002] The present invention relates to a method of manufacturing a
rotary scale to be used for a rotary encoder.
Description of the Related Art
[0003] As means for detecting a movement amount and a rotation
amount of a measurement object, encoders have been known. Examples
of the encoders include optical encoders, magnetic encoders, and
capacitive encoders. The optical encoders are constituted by a
light source, a scale that reflects or transmits light emitted from
the light source and is displaceable relatively to the light
source, and a light-receiving element that receives the light
reflected by or transmitted through the scale.
[0004] On the scale used for the optical encoders, a pattern that
reflects or transmits the light is formed. Depending on the
relative displacement of the scale, an amount of the light received
by the light-receiving element varies. According to this
characteristic, the optical encoders have a basic configuration in
which they detect the displacement on the basis of a detection
signal produced depending on the variation in the amount of the
light received by the light-receiving element.
[0005] The optical encoders are broadly classified into rotary
encoders and linear encoders, depending on a shape of the scale.
The rotary encoders include an annular (doughnut-shaped) rotary
scale assembled thereto whose coaxiality of the pattern is set to
match those of a shaft, as a rotating shaft, and a hub. The rotary
encoders detect, with an angle detection head, the displacement of
the pattern formed on the rotary scale, thereby performing angle
detection.
[0006] FIG. 10 is a diagram illustrating a problem concerning a
rotation angle detection error caused by application of a
conventional rotary scale to the rotary encoders. FIG. 10A is a
schematic view of the conventional rotary scale whose outer shape
has been processed. With reference to FIG. 10, a description will
be given of a case of using plastic or glass as a substrate of a
rotary scale 202. When the substrate of the rotary scale 202 is
composed of plastic or glass, there is an advantage that a scale
pattern 208 with a high resolution can be formed. However, when the
substrate of the rotary scale is composed of plastic or glass,
there are problems as illustrated in FIG. 10A such as a difficulty
in achieving a high coaxiality and in highly accurately processing
an outer shape 262 as a reference in the fixing of the rotary scale
because the formation of the scale pattern 208 and the processing
of the outer shape 262 are mutually different steps and both of
plastic and glass are materials difficult to process.
[0007] In addition, when the rotary scale 202 having, as
illustrated in FIG. 10A, a low coaxiality between the scale pattern
208 and the outer shape 262 and a low outer shape processing
position accuracy is fixed to the shaft and the hub each as a
rotating shaft 210 as illustrated in FIG. 10B, it is difficult to
reduce an eccentricity amount .epsilon.2 between a center axis 241
of the shaft and the hub and a center axis 242 of the scale pattern
208. This difficulty has resulted in a problem that, as illustrated
in FIG. 10C, it is difficult to reduce the rotation angle detection
error caused by the rotary encoder with which the rotary scale is
integrated.
[0008] There has been another problem that performing positioning
adjustment of the scale pattern, and the shaft and the hub before
fixing the rotary scale in which the scale pattern 208 and the
outer shape 262 have a low coaxiality therebetween and which has a
low outer shape processing position accuracy to the shaft and the
hub requires a long period of time and a high cost for the
positioning adjustment.
[0009] Japanese Patent Application No. ("JP") 5132398 discloses a
pulse code wheel 50 on which marks 210-c that allow a user to check
an outer-shape processing accuracy of a marginal portion 203a of a
fitting hole 203 into which the rotating shaft is to be fitted are
formed as illustrated in FIG. 11. The pulse code wheel 50 disclosed
in JP 5132398 allows the user to check the outer-shape processing
accuracy by seeing the marks with use of a simple observation tool
such as a loupe.
[0010] On the other hand, JP 2002-250640 discloses a high-accuracy
rotary encoder that reads the rotary scale with multiple angle
detection heads and calculates acquired data to reduce an influence
of an eccentricity between the scale pattern and the outer
shape.
[0011] However, employing an approach that, as in JP 5132398,
checks the outer-shape processing accuracy with the observation
tool such as the loupe, determines whether a processed outer shape
is acceptable or not and then assembles the same leads to a low
yield and an increase in cost because this approach requires a long
period of time for the checking and has a low outer-shape
processing accuracy.
[0012] On the other hand, reducing the influence of the
eccentricity by the multiple angle detection heads as disclosed in
JP 2002-250640 requires spaces to arrange the multiple angle
detection heads. This requirement results in an increase in size of
the rotary encoder and an increase in the number of component parts
of the rotary encoder, leading to an increase in cost of
manufacturing the rotary encoder.
[0013] Another possible method that integrally forms the scale
pattern and the outer shape by using ultraviolet-curable plastic
and thermosetting plastic also has had a difficulty in
manufacturing the rotary scale having a high-resolution scale
pattern.
[0014] Another example of a configuration that processes the scale
pattern and an annular outer shape of the rotary scale while
achieving a high coaxiality between them is a metal-etched scale,
which has been conventionally commercially available. Since the
scale pattern and the outer shape can be integrally processed, the
metal-etched scale has an advantage that it can be manufactured
such that an eccentricity amount between the scale pattern and the
outer shape is small. However, forming a fine scale pattern on the
metal-etched scale is difficult, which makes the metal-etched scale
unsuitable for use as the high resolution rotary scale.
SUMMARY OF THE INVENTION
[0015] The present invention provides a method of manufacturing a
rotary scale capable of processing an outer shape with a high
accuracy while achieving a high coaxiality between a scale pattern
having a high resolution and the outer shape to which a rotating
shaft is fixed.
[0016] A method of manufacturing a rotary scale to be fixed to a
rotating shaft of a rotating member, as an aspect of the present
invention, includes a first step of forming, on a scale substrate,
a scale pattern and a mark indicating an outer shape of the
rotating shaft positioned such that a center axis of the rotating
shaft coincides with a center axis of the scale pattern, a second
step of cutting a first area of the scale substrate including the
mark and having a first width, and a third step of cutting a second
area including the mark that remains after the cutting of the first
area, having a length in a circumferential direction of the scale
substrate shorter than that in the first area and having a second
width narrower than the first width.
[0017] Further features of the present invention will become
apparent from the following description of exemplary embodiments
(with reference to the attached drawings).
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] FIG. 1 is a flowchart of a method of manufacturing a rotary
scale according to Embodiment 1 of the present invention.
[0019] FIGS. 2A to 2H are a schematic view of the method of
manufacturing the rotary scale according to Embodiment 1 of the
present invention.
[0020] FIG. 3 is a schematic view of another configuration example
in the method of manufacturing the rotary scale according to
Embodiment 1 of the present invention.
[0021] FIGS. 4A and 4B are a schematic view illustrating a
configuration of a rotary encoder according to Embodiment 2 of the
present invention.
[0022] FIG. 5 is a plan view illustrating a distribution of
light-receiving surfaces of a light-receiving element array in the
rotary encoder according to Embodiment 2 of the present
invention.
[0023] FIG. 6 is a diagram illustrating a signal processing circuit
of an angle detection head in the rotary encoder according to
Embodiment 2 of the present invention.
[0024] FIG. 7 is a diagram illustrating a rotary scale 2 according
to Embodiment 2 of the present invention being assembled by fitting
of a scale fixing member 10.
[0025] FIG. 8 is a diagram illustrating reduction in an angle
detection error in the rotary encoder according to Embodiment 2 of
the present invention.
[0026] FIG. 9 is a sectional schematic view of a surveillance
camera including a rotary encoder according to Embodiment 3 of the
present invention.
[0027] FIGS. 10A to 10C are a diagram illustrating a problem
concerning a rotation angle detection error in a rotary encoder to
which a conventional rotary scale is applied.
[0028] FIG. 11 is a diagram illustrating the conventional rotary
scale.
DESCRIPTION OF THE EMBODIMENTS
[0029] Exemplary embodiments of the present invention will be
described below with reference to the fixed drawings.
Embodiment 1
[0030] FIG. 1 illustrates a flowchart of a method of manufacturing
a rotary scale according to a first embodiment (Embodiment 1) of
the present invention. FIG. 2 is a schematic view of the method of
manufacturing the rotary scale that is Embodiment 1 of the present
invention.
[0031] Before starting the manufacturing of the rotary scale
illustrated in FIG. 1, a for-processing plate, and a substrate
(scale substrate) of a rotary scale 2 on which a reflective film to
transfer a pattern of the for-processing plate onto is formed are
prepared.
[0032] Although the for-processing plate is typically constituted
by the substrate that is made of glass and on which a chromium film
pattern is formed, the for-processing plate in this embodiment may
include the substrate made of a different raw material such as
plastic or may have a pattern formed thereon that is composed of a
different raw material such as chromium oxide.
[0033] The rotary scale 2 uses the substrate made of plastic such
as acrylic (PMMA) or polycarbonate (PC) and including an aluminum
film, as the reflective film, formed on a surface of the substrate.
The substrate of the rotary scale 2 may be made of a material such
as glass or float glass, and may include the chromium film as the
reflective film.
[0034] Although a description will be made below of the rotary
scale to be used for a reflective rotary encoder that includes the
substrate made of acrylic (PMMA), and the reflective film made of
aluminum, the rotary scale may include such substrate and film as
described above. The film may be, instead of the reflective film, a
light-shielding film that allows the rotary scale to be used as a
transmissive rotary scale.
[0035] As illustrated in FIGS. 1 and 2A, upon start of the
manufacturing of the rotary scale, the method of manufacturing the
rotary scale according to Embodiment 1 of the present invention
forms, as a first processing step 71, a radial scale pattern 8 by
using the for-processing plate, and the substrate and the
reflective film of the rotary scale 2 while forming
high-accuracy-outer-shape-processing fiducial marks 11 on the
rotary scale 2. The high-accuracy-outer-shape-processing fiducial
marks 11 are marks together indicating an outer shape of a rotating
shaft (members to fix the rotary scale 2, such as the shaft and the
hub) whose center axis is made coincide with a center axis of the
scale pattern 8. That is, the high-accuracy-outer-shape-processing
fiducial marks 11 are marks together indicating a target processing
shape. In addition, the high-accuracy-outer-shape-processing
fiducial marks 11 are, as illustrated in FIG. 2B, marks that allow
high-accuracy-outer-shape-processing-position fiducial marks 22, 23
and 24 to remain at least three locations after processing of the
outer shape. As described above, the first processing step 71 is a
step of forming the scale pattern 8 on the scale substrate and
forming the marks 11 together indicating the outer shape of the
rotating shaft whose center axis is made coincide with the center
axis of the scale pattern 8.
[0036] Next, as illustrated in FIGS. 1 and 2B, the method of
manufacturing the rotary scale according to Embodiment 1 of the
present invention roughly processes, as a second processing step
72, outer shape portions 12, 13, and 14 (first area) for which a
high processing accuracy is not required. This processing is
performed such that, of the high-accuracy-outer-shape-processing
fiducial marks 11, the high-accuracy-outer-shape-processing
fiducial marks 22, 23, and 24 remain at the at least three
locations. The high-accuracy-outer-shape-processing fiducial marks
22, 23, and 24 each constitute at least part of the
high-accuracy-outer-shape-processing fiducial marks 11. The outer
shape portions 12, 13, and 14 (first area) are through holes
(groove portions) including mark portions of the
high-accuracy-outer-shape-processing fiducial marks 11 excluding
the high-accuracy-outer-shape-processing fiducial marks 22, 23, and
24 and each having a predetermined width (first width). That is,
the second processing step 72 is a step of roughly processing
(cutting) the first area of the scale substrate including the
high-accuracy-outer-shape-processing fiducial marks 11 and having
the first width to form the through holes (groove portions). In
other words, the second processing step 72 roughly processes (cuts)
areas located outside of the high-accuracy-outer-shape-processing
fiducial marks 11 (that is, located at a scale-pattern-8 side), at
mark portions excluding the high-accuracy-outer-shape-processing
fiducial marks 22, 23, and 24. Processing the areas into shapes
each having a size larger than that of each of the
high-accuracy-outer-shape-processing fiducial marks 11
consequentially makes marginal portions of the roughly processed
through holes (groove portions) not contact the rotating shaft
including the shaft and the hub and being fixed to the rotary
scale.
[0037] Examples of the second processing step 72 include ice-melt
cutting using a laser, and processing using an engraving machine.
The second processing step 72 may be performed by using an
alternative method.
[0038] Finally, as illustrated in FIGS. 1 and 2G, the method of
manufacturing the rotary scale according to Embodiment 1 of the
present invention processes (cuts), as a third processing step 73,
the high-accuracy-outer-shape-processing fiducial marks 22, 23, and
24 at the at least three locations remaining after the second
processing step 72. A detailed description will be given below of
the third processing step 73.
[0039] FIG. 2C is an enlarged view of a periphery of the
high-accuracy-outer-shape-processing fiducial mark 22. Although the
high-accuracy-outer-shape-processing fiducial mark 22 will be
described below, a description of the
high-accuracy-outer-shape-processing fiducial marks 23 and 24 will
be omitted because the same description as that for the
high-accuracy-outer-shape-processing fiducial mark 22 is applicable
also to the high-accuracy-outer-shape-processing fiducial marks 23
and 24.
[0040] The high-accuracy-outer-shape-processing fiducial mark 22 is
constituted by a pattern 31 as a cutting reference position, and
patterns 32 and 33 each located at a position slightly (for
example, by a distance d0 as illustrated in FIG. 2C) away from the
pattern 31 in a radius direction. That is, the
high-accuracy-outer-shape-processing fiducial mark 22 includes the
pattern 31 as the cutting reference position, the pattern 32
(second mark) having an enlarged shape of the pattern 31, and the
pattern 33 (third mark) having a reduced shape of the pattern 31.
The patterns 31, 32, and 33 together have the same center axis
identical to the center axis of the scale pattern 8. The
above-described second processing step 72 cuts the outer shape
portions 12, 13, and 14 (i.e., the first area having the first
width) including the pattern 31, and at least one of the second
mark and the third mark (in this embodiment, the second mark). The
third processing step 73, which is this step, cuts the pattern 31
(i.e., the second area having a second width narrower than the
first width) provided between the second and third marks. An actual
processing position accuracy at a target processing position can be
checked by measuring a distance d1 between the pattern 32 and a
high-accuracy-outer-shape-formation surface 34 illustrated in FIG.
2D. In the present invention, it is not essential to check the
processing position accuracy (displacement amount).
[0041] Next, as an example different from that illustrated in FIG.
2C, a description will be given of the
high-accuracy-outer-shape-processing fiducial mark 22 illustrated
in FIG. 2E. The high-accuracy-outer-shape-processing fiducial mark
22 includes a mark 36 and a mark 37 both formed in an area
surrounding a pattern 35 as the cutting reference position (an area
extending from the pattern 35 by a distance d2 as illustrated in
FIG. 2E). That is, the high-accuracy-outer-shape-processing
fiducial mark 22 includes the pattern 35 as the cutting reference
position, the mark 36 (fourth mark) having a predetermined width
from the pattern 35 toward outside of the pattern 35, and the mark
37 (fifth mark) having the predetermined from the pattern 35 toward
inside of the pattern 35. The pattern 35 and the marks 36 and 37
together have the same center axis identical to the center axis of
the scale pattern 8. The above-described second processing step 72
cuts the outer shape portions 12, 13, and 14 (the first area having
the first width) including the pattern 35, and at least one of the
fourth mark and the fifth mark (in this embodiment, the fourth and
fifth marks). Similarly, the third processing step 73, which is
this step, cuts the pattern 35 provided between the fourth and
fifth marks (the second area having the second width narrower than
the first width). In forming the
high-accuracy-outer-shape-processing fiducial marks 11 at the
above-described first processing step 71, the pattern 35 and the
marks 36 and 37 may be formed separately, or may be formed as a
single mark. As in the case of processing the above-described mark
31, an actual processing position accuracy at the processing
position can be checked by measuring a distance d3 between an end
portion 38 and an end portion 39 in a radius direction of the mark
36 (or the mark 37) illustrated in FIG. 2F. Also in this case, as
in FIG. 2C, it is not essential, in the present invention, to check
the processing position accuracy (displacement amount).
[0042] Acrylic (PMMA) that is the substrate of the rotary scale is,
as described above, a material difficult to process due to its
viscous property, whereas the patterns 31 and 35 (second area) each
as the cutting reference position are easy to process because their
length (i.e., a length in a horizontal direction in each of FIGS.
2C and 2E) in a circumferential direction required to be cut is
short. That is, the pattern 31 or the pattern 35 (second area) cut
at the third processing step 73, which is this step, has the second
width narrower than the first width that each of the outer shape
portions 12, 13, and 14 (first area) cut at the second processing
step 72 has. The length of the second area in the circumferential
direction is significantly shorter than the length of the first
area in the circumferential direction. As described above, the
third processing step 73 is a step of cutting the second area that
includes the pattern 31 (or the pattern 35) of each of the
high-accuracy-outer-shape-processing fiducial marks 22, 23, and 24
remaining after the cutting of the outer shape portions 12, 13, and
14 (first area), in which the scale substrate has the length in the
circumferential direction shorter than that in the first area and
that has the second width narrower than the first width. This
enables processing, with a high accuracy, the area cut at the third
processing step 73 even when the scale substrate is composed of a
material difficult to process, which enables processing the area at
a high accuracy while achieving a high diameter dimensional
accuracy of a circle formed by the
high-accuracy-outer-shape-formation surfaces 34 at the at least
three locations or the high-accuracy-outer-shape-formation surfaces
39 connected to one another and a high coaxiality between the
center axis of the radial scale pattern 8 and a center axis of the
circle formed by the high-accuracy-outer-shape-formation surface 34
or the high-accuracy-outer-shape-formation surfaces 39. Although
this embodiment cuts, at the third processing step 73, the patterns
31 (or the patterns 35) at the three locations, all of the
remaining patterns 31 (or the patterns 35) may be cut when three or
more of the high-accuracy-outer-shape-processing fiducial marks 11
remain after the second processing step. As described above,
Embodiment 1 of the present invention cuts, at the third processing
step 73, the patterns 31 (or the patterns 35) at the at least three
locations.
[0043] FIG. 2G illustrates the rotary scale 2 manufactured through
the above-described processing step.
[0044] The rotary scale 2 of this embodiment includes the scale
pattern 8 and protrusions 15. The protrusions 15 are provided at
least three locations in the circumferential direction of the scale
substrate and each have, at one end (tip portion), contact surfaces
34 and 39 contacting the rotating shaft (the members to fix the
rotary scale 2, such as the shaft and the hub). The protrusions 15
each have a taper shape whose width in the circumferential
direction becomes narrower toward the one end (a contact surface of
the tip portion) from the other end (in other words, as further
from the scale pattern 8). The protrusions 15 are formed at the
above-described processing step (in particular, the second and
third processing steps). That is, the protrusions 15 are formed by
cutting the second area that includes the patterns 31 (or the
patterns 35) of the high-accuracy-outer-shape-processing fiducial
marks 11 remaining after the cutting of the outer shape portions
12, 13, and 14 (first area) each having the first width, in which
the scale substrate has the length in the circumferential direction
shorter than that in the first area and that has the second width
narrower than the first width. The protrusions 15 formed through
the above-described processing steps have contact surfaces 34 and
39 together forming a virtual circle that has a high diameter
dimensional accuracy, thereby achieving a high coaxiality between
the enter axis of the scale pattern 8 and a center axis of the
virtual circle. Similarly, the contact surfaces 34 and 39 are also
processed with high accuracy because a length required to form
(cut) them is short. The taper shape that each of the protrusions
15 has is formed by cutting the first area at the second processing
step 72.
[0045] As illustrated in FIG. 3, the processing of the outer shape
o the rotary scale 2 according to the present invention can be
applied also to an outer shape inside of the rotary scale 2. FIG. 3
illustrates, as an example, a rotary scale 82 located inside the
rotary scale 2 described so far with reference to FIGS. 2A to 2H
and having a short diameter. The rotary scale 82 may not be located
outside of the rotary scale 2. However, since the rotary scale 82
can be formed by utilizing a portion not used to form the rotary
scale 2, a configuration illustrated in FIG. 3 that enables a
reduction in material cost may be employed. Although the present
invention employs the configuration in which the protrusions 15 are
provided more inside of the rotary scale than the scale pattern 8
as illustrated in FIG. 2, an alternative configuration in which the
protrusions 15 are provided more outside of the scale pattern 8 may
be employed. In this case, the second processing step 72 roughly
processes (cuts), of the mark portions excluding the
high-accuracy-outer-shape-processing fiducial marks 22, 23, and 24,
the area located inside of the high-accuracy-outer-shape-processing
fiducial marks 11 (that is, located on the scale-pattern-8 side).
Processing the area into shapes having a size smaller than that of
each of the high-accuracy-outer-shape-processing fiducial marks 11
consequently makes the marginal portions of the roughly processed
through holes (groove portions) not contact the rotating shaft
including the shaft and the hub and being fixed to the rotary
scale.
[0046] The above-described manufacturing method can achieve, at low
cost, a rotary scale including a plastic substrate or a glass
substrate and having a high outer shape accuracy.
[0047] Thus, this embodiment enables processing an outer shape
while achieving a high coaxiality between a scale pattern having a
high resolution and the outer shape to which a rotating shaft is
fixed high accuracy.
Embodiment 2
[0048] With reference to FIGS. 2 to 8, a description will be given
of a rotary encoder that is a second embodiment (Embodiment 2) of
the present invention.
[0049] FIG. 4A is a schematic view illustrating a configuration of
the rotary encoder according to Embodiment 2 of the present
invention. FIG. 4B is a schematic view of an angle detection head 7
included in the rotary encoder viewed from a bottom (-Z direction)
toward a top (+Z direction) of FIG. 4A.
[0050] The rotary encoder according to this embodiment is
constituted by a for-fixing-to-scale member 10 (a rotating shaft of
a rotating member) such as a shaft and a hub each being a rotation
driver, a rotary scale 2 to be fixed to a for-fixing-to-scale
member 10, the angle detection head 7 to be fixed to a fixer, a
signal processing circuit 51, and a storage unit 52. The rotary
scale 2 is the same as that described in Embodiment 1.
[0051] The signal processing circuit 51 performs an interpolation
process on an encoder signal acquired by the angle detection head
7, writing and reading of the signal into and from the storage unit
52, output of a position signal, and the like. Although a
description will be made below of a reflective optical rotary
encoder, the rotary encoder may be a transmissive encoder. A
detection method performed by the rotary encoder may be, instead of
an optical detection method, one that detects a physical property
such as a capacitive or magnetic detection method.
[0052] The angle detection head 7 is a light-receiving/emitting
angle detection head including a light source 1 constituted by
LEDs, a light-receiving element 3 including a light-receiving
element array 9, a semiconductor element constituted by a photo IC
chip including a I-V conversion signal processing circuit, and a
printed circuit board 4 on which the light source 1, the
light-receiving element 3, and the semiconductor element are
packaged together and mounted. In this embodiment, the angle
detection head 7 includes a plastic 5 on the printed circuit board
4, and a transparent glass substrate 6 on the plastic 5.
[0053] The rotary scale 2 is rotated about a Z axis together with
the scale fixing member 10. The angle detection head 7 is placed so
as to face the rotary scale 2. A light flux emitted from the light
source 1 included in the angle detection head 7 is projected onto
the scale pattern 8 of the rotary scale 2. Thereafter, the light
flux is reflected by the scale pattern 8, and then reflected toward
the light-receiving element array 9 in the angle detection head 7.
Consequently, the light-receiving element array 9 receives a
reflection distribution of the scale pattern 8 as an image. That
is, the angle detection head 7 functions as a detector that detects
the light reflected by the rotary scale 2, and has a configuration
in which the light flux received by the light-receiving element
array 9 is converted into an electric signal and then sent as the
position signal to the signal processing circuit 51 illustrated in
FIG. 4A.
[0054] FIG. 2G is a top view illustrating the configuration of the
rotary scale 2 used in each of the embodiments of the present
invention. FIG. 2H is a partially enlarged view of the rotary scale
2 illustrated in FIG. 2G.
[0055] As illustrated in FIG. 2H, the scale patterns 8 have radial
modulation periods P.theta.1 thereamong.
[0056] Although Embodiment 2 of the present invention will describe
an incremental rotary encoder in which the patterns of the rotary
scale 2 have the modulation periods P.theta.1 at an angle detection
position that are each 100 .mu.m, Embodiment 2 of the present
invention is not limited to this.
[0057] Next, a description will be given of acquisition of rotation
phase information.
[0058] FIG. 5 is a plan view illustrating an arrangement of
light-receiving surfaces of the light-receiving element array 9 in
the light-receiving element 3 in Embodiment 2 of the present
invention. FIG. 6 is a diagram illustrating a signal processing
circuit of the angle detection head 7 according to Embodiment 2 of
the present invention. The light-receiving element array 9 in FIG.
5 is constituted by 32 light-receiving elements arranged in an X
axis direction at the modulation period and each having a width of
50 .mu.m in the X direction denoted by X_pd. An entire width
X_total of the light-receiving element array 9 is 1600 .mu.m. Since
the patterns are projected on the scale at a magnification of
twice, the light is detected on the scale within a range of 800
.mu.m in the X direction.
[0059] Although, in this embodiment, a description will be given
of, because of its advantage that enables parts sharing leading to
cost reduction, a rotary encoder provided with the light-receiving
element a rectangular light-receiving surface shape that is used
also for a linear encoder, a light-receiving element whose
light-receiving surface is optimized to match a curvature of the
scale pattern may alternatively be used for the rotary encoder.
[0060] Outputs from the light-receiving element array 9 are
connected to four initial amplifiers. As illustrated in FIG. 6, the
initial amplifiers to be used to produce four-phase sinusoidal wave
outputs S(A+), S(B+), S(A-), and S(B-) are constituted by four I-V
conversion amplifiers (34, 35, 36, and 37). The four-phase
sinusoidal waves have relative phase differences thereamong; when
S(A+) is regarded as a reference to a detection modulation period,
S(B+) has a phase difference of approximately +90 degrees from the
reference, S(A-) has a phase difference of approximately +180
therefrom, and S(B-) has a phase difference of approximately +270
therefrom. The four-phase sinusoidal wave outputs S(A+), S(B+),
S(A-), and S(B-) are used by the signal processing circuit 51 to
perform, via a phase-A differential amplifier 39 and a phase-B
differential amplifier 40, calculations expressed as:
S(A)=S(A+)-S(A-) (1); and
S(B)=S(B+)-S(B-) (2)
to produce two-phase sinusoidal wave signals S(A) and S(B).
[0061] It is desirable to correct an offset error contained in each
of S(A) and S(B) and a gain ratio between S(A) and S(B) both caused
due to a difference in offset and gain among the amplifiers. For
example, the correction is performed by detecting an amplitude
ratio from (a maximum value minus a minimum value)/2 of each of
S(A) and S(B) in a predetermined area and then making amplitudes
identical to each other. Similarly, an offset error amount is
detected from (the maximum value plus the minimum value)/2, and
then the offset is corrected. In each of the former case and the
latter case, a correction value is prestored in the storage unit
52, and read therefrom to perform the correction in the position
detection.
[0062] Furthermore, a calculation is performed to acquire .PHI.1
expressed as:
.PHI.1=ATAN 2[S(A),S(B)]. (3)
In Expression (3), ATAN 2[Y,X] represents an arc tangent
calculation function for determining a quadrant of the coordinates
and converting the same into a phase of 0 to 2.pi..
[0063] As described in Embodiment 1, as illustrated in FIGS. 2H and
2G, the high-accuracy-outer-shape-formation surfaces 34 at the at
least three locations are formed such that processing positions are
processed with a high accuracy. The rotary scale 2 fabricated as
described above is, as illustrated in FIG. 7, assembled such that
the rotary scale 2 is fitted into the for-fixing-to-scale member 10
having a sufficient diameter dimensional accuracy and a sufficient
coaxiality. As described in Embodiment 1, the rotary scale 2
according to this embodiment has the
high-accuracy-outer-shape-formation surfaces 34 at the at least
three locations together forming a circle with a high diameter
dimensional accuracy, which enables easily performing a fitting
operation in the assembling.
[0064] Moreover, the high-accuracy-outer-shape-formation surfaces
34 have a high coaxiality to the scale pattern 8, which enables
reducing a difference .epsilon.1 in position between a rotating
shaft 42 of the rotary scale 2 and a rotating shaft 41 of the scale
fixing member 10 to an extremely small value.
[0065] As illustrated in FIG. 8, such a rotary encoder is capable
of performing high-accuracy rotation angle detection.
[0066] When the difference .epsilon.1 has a large value, it is
difficult, as described above and as illustrated in FIG. 10C, to
reduce a rotation angle detection error due to an influence of an
eccentricity between the scale fixing member 10 and the scale
pattern 8. Conventionally, to reduce the rotation angle detection
error, the adjustment of the eccentricity of the rotary scale, and
the reduction of the influence of the eccentricity by a calculation
using multiple angle detection heads have been performed as
described above.
[0067] In contrast, employing the configuration described in this
embodiment enables easily positioning the rotary scale without the
eccentricity adjustment, which enables achieving a rotary encoder
that operates highly accurately with a single angle detection head.
That is, it is unnecessary for the rotary encoder to use the
multiple angle detection heads, which enables achieving, at low
cost, the rotary encoder according to the present invention that
has a small size.
[0068] As described above, employing the configuration according to
this embodiment enables achieving a high-accuracy and low-cost
rotary encoder with a small size.
Embodiment 3
[0069] With reference to FIG. 9, a description will be given of an
example of a rotary encoder according to a third embodiment
(Embodiment 3) of the present invention installed in a lens barrel
(image pickup device) of a surveillance camera (image pickup
apparatus). The rotary encoder described in this embodiment is the
same as that described in Embodiment 2.
[0070] FIG. 9 is a schematic sectional view of the surveillance
camera including the rotary encoder according to the present
invention viewed from above. Reference numeral 121 denotes a lens
unit (image pickup optical system), 122 a drive lens (optical
member) constituting part of the lens unit 121, 123 an angle
detection head, 124 a CPU, 125 an image pickup element that
photoelectrically converts an object image formed by the image
pickup optical system, and 126 a lens barrel of the surveillance
camera. The lens unit 121, the drive lens 122, the CPU 124, and the
image pickup element 125 together constitute the image pickup
device. The lens barrel 126 (rotating member) includes a rotating
shaft to which the rotary encoder described in Embodiment 2 is
fixed.
[0071] The lens unit 121 and the image pickup element 125 are
provided to the lens barrel 126 of the surveillance camera. The CPU
124 is provided to a body of the surveillance camera (a body of the
image pickup apparatus). The lens unit 121, the image pickup
element 125, and the like disposed in the lens barrel 126 are
rotationally driven in an integrated manner depending on a rotation
angle of the rotary scale 102 detected by the angle detection head
123 in response to rotational driving of the lens barrel 126
(rotating member) by an actuator (driver) intended for driving the
lens barrel. That is, the surveillance camera according to this
embodiment controls the rotation of the lens barrel 126 by
controlling the driver (not illustrated) provided to the
surveillance camera depending on an output from the rotary encoder
described in Embodiment 2.
[0072] The drive lens 122 constituting part of the lens unit 121
is, for example, a lens used for autofocus, and is displaceable in
a Y direction that is an optical axis direction. The drive lens 122
may be any other lens, such as a zoom lens, that is configured to
be driven. The lens unit 121 may have an alternative configuration
in which the drive lens 122 is omitted. This is because such a
configuration does not deviate from the scope of features covered
by the present invention.
[0073] The rotary scale 102 fixed to a for-fixing-to-scale member
110 (i.e., the rotating shaft of the lens barrel 126) included in
the rotary encoder according to the present invention is rotated by
the actuator (not illustrated) serving as the driver about an axis
of the for-fixing-to-scale member 110 relatively to the angle
detection head 123. This rotation causes the lens barrel 126 to be
driven about a Z axis (a direction indicated by an arrow)
corresponding to a horizontal direction (pan). Consequently, a
signal is produced from the angle detection head 123 of the rotary
encoder corresponding to a rotational displacement of the rotary
scale 102 and output to the CPU 124. The CPU 124 produces a drive
signal for rotating the lens barrel 126 at a desired rotation
angle. The lens barrel 126 is driven based on the drive signal.
Although the lens barrel 126 has been described as being driven in
the horizontal direction (pan), the present invention can, needless
to say, be applied also when the lens barrel 126 is driven in a
vertical direction (tilt).
[0074] Examples of specifications required for the surveillance
camera include high-accuracy rotation that allows accurate focusing
on an object, high-speed rotation that allows speedy focusing on
the object, cost efficiency, small size, robustness, and high
sensitivity.
[0075] The rotary scale according to this embodiment of the present
invention, and the rotary encoder in which the rotary scale is
installed have the configuration described also in Embodiment 2.
For this reason, providing the rotary encoder according to the
present invention to the lens barrel of the surveillance camera
enables achieving a lens barrel having a sufficient rotation phase
accuracy, and a surveillance camera including the lens barrel.
[0076] Moreover, the rotary scale and the rotary encoder according
to the present invention are easy to assemble, and together can
achieve high-accuracy rotation phase angle detection. This enables
reducing a man-hour required to assemble the lens barrel that
includes the rotary encoder according to the present invention and
the surveillance camera that includes the lens barrel, and
increasing a passing rate of them, which enables achieving the
low-cost lens barrel, and the low-cost surveillance camera.
[0077] Furthermore, employing the configuration described in this
embodiment allows the rotary scale to be easily positioned without
the eccentricity adjustment, which enables achieving a lens barrel
capable of highly accurately detecting the rotation angle with a
single angle detection head, and the surveillance camera including
the lens barrel.
[0078] The present invention can provide a method of manufacturing
a rotary scale that is to be used for the rotary encoder together
with the angle detection head for detecting rotation angle
information and that is capable of highly accurately processing at
least three high accuracy outer shape processing positions to be
each used as a reference in the fixing of the scale while achieving
a high coaxiality between a scale pattern and an outer shape.
[0079] Moreover, it is unnecessary, in fixing the rotary scale to a
shaft and a hub, to perform position adjustment of the rotary scale
and to take a countermeasure such as cancelling an influence of
eccentricity by using multiple angle detection heads, which enables
achieving a small, high accuracy rotary encoder at low cost.
[0080] This enables providing the low-cost, small rotary encoder
that can achieve a sufficient rotation phase accuracy, a lens
barrel in which the rotary encoder is installed, and a surveillance
camera including the rotary encoder.
[0081] As described above, the present invention enables highly
accurately processing positions of an outer shape while achieving a
high coaxiality between a scale pattern with a high resolution and
the outer shape to which the rotating shaft is to be fixed.
[0082] For instance, the rotary encoder according to the present
invention can be applied not only to the surveillance camera, but
also to various driving apparatus. Specifically, the rotary encoder
can be applied to detect a rotation angle of each of joins of a
robot arm having, at its arm joint, a rotation drive mechanism.
That is, applying the rotary scale according to the present
invention to the robot apparatus provided with a driver that
rotates the robot arm to fix the rotating shaft of the robot arm to
the rotary scale enables sufficiently detecting the rotation angle
of the robot arm. As described above, applying the rotary scale
according to the present invention to a driving apparatus provided
with the driver that rotates a rotating member and fixing the
rotary scale to the rotating shaft of the rotating member enables
sufficiently detecting the rotation angle of the rotating
member.
[0083] The rotary scale and the rotary encoder according to the
present invention can be suitably utilized for driving apparatuses
installed in image pickup apparatuses and robot apparatuses.
[0084] While the present invention has been described with
reference to exemplary embodiments, it is to be understood that the
invention is not limited to the disclosed exemplary embodiments.
The scope of the following claims is to be accorded the broadest
interpretation so as to encompass all such modifications and
equivalent structures and functions.
* * * * *