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0 前言 由国内自行设计制造的与焊接机器人配套的工件变位机,其定位精度要求与机器人本体相当,而变位机的位置和速度反馈元件一般选用光电编码器。增量式光电编码器以其体积小、分辨率高、规格齐全、与计算机接口方便,及安装方式多样等特点在变位机位置控制中得到了广泛应用。增量式光电编码器的处理电路一般包括鉴相、计数、锁存等环节,在信号接收电路方面,有些用户由于缺少资料,往往采用逻辑芯片自行设计完成上述功能,线路比较繁琐,而且输入信号的频响范围也受到限制。
0 Preface By the domestic design and manufacture of welding robots supporting the workpiece positioner, the positioning accuracy of the robot and the body quite, and the position of the positioner and speed feedback components generally opt optical encoder. Incremental optical encoder with its small size, high resolution, complete specifications, easy interface with the computer, and installation of diverse features such as position control in the position has been widely used. Incremental optical encoder processing circuit generally includes phase identification, counting, latching and other aspects of the signal receiving circuit, some users due to lack of information, often using logic chips designed to complete the above functions, the circuit is more complicated, and the input signal The frequency response range is also limited.