Method and device for determining kinematic parameters of a bearing cage

Abstract

The application provides a bearing cage kinematic parameter determination method and device, comprising: obtaining the rotation angular velocity of a roller in a sensor coordinate system detected by a sensor; converting the rotation angular velocity of the roller in the sensor coordinate system into the rotation angular velocity of the roller in a geodetic coordinate system; screening out non-sliding rollers from a plurality of rollers in a rolling bearing according to the rotation angular velocity of each roller in the geodetic coordinate system; and fusing the corresponding rotation angular velocities of the non-sliding rollers before the sliding delay duration to determine the kinematic parameters of the bearing cage. Thus, the kinematic calculation of the bearing cage is no longer performed by using a complex external test device, and compared with the prior art, the measurement error is lower, the efficiency is higher, and the complex working condition adaptability is better.

Description

Technical Field

[0001] This invention relates to the field of bearing measurement technology, and in particular to a method and apparatus for determining the kinematic parameters of a bearing cage. Background Technology

[0002] With the accelerating pace of industrialization and informatization in the manufacturing industry both domestically and internationally, rolling bearings, as an indispensable core component of mid-to-high-end manufacturing equipment, require constant monitoring of their operational status. For example, the main bearings of tunnel boring machines (TBMs) exhibit both heavy-load and low-speed characteristics, bearing continuous radial and axial loads as well as impact loads during TBM construction. Damage to the main bearings can result in significant economic losses. Therefore, monitoring the operational status of TBM main bearings is essential. TBM main bearings are mostly cylindrical roller bearings. Related technologies primarily involve designing complex testing devices with specialized sensors to directly measure the bearing cage, thereby monitoring the bearing's operational status.

[0003] While the related technical solutions can achieve kinematic calculations of bearing cages, they have the following drawbacks: the complex testing equipment makes measurement difficult and results in large measurement errors; different measuring devices need to be redesigned for different bearings, which consumes manpower and resources and leads to low measurement efficiency; bearings may operate under complex conditions such as heavy load, high speed, high temperature, strong acid or strong alkali, resulting in poor adaptability of external measuring devices. Summary of the Invention

[0004] To address the technical problems in related technologies where the kinematic calculation methods for bearing cages lead to difficulties in measurement, large measurement errors, and limited applicability, this invention provides a method and apparatus for determining the kinematic parameters of a bearing cage.

[0005] In a first aspect, embodiments of the present invention provide a method for determining the kinematic parameters of a bearing cage, the method comprising:

[0006] Obtain the rotational angular velocity of the roller in the sensor coordinate system as detected by the sensor;

[0007] The rotational angular velocity of the roller in the sensor coordinate system is converted into the rotational angular velocity of the roller in the geodetic coordinate system;

[0008] Based on the rotational angular velocity of each roller in the geodetic coordinate system, non-slip rollers are selected from a plurality of rollers in the rolling bearing; wherein, the non-slip rollers satisfy the following condition: the rotational angular velocity of the roller in the geodetic coordinate system is less than or equal to the slip threshold; the rotational angular velocities of the non-slip rollers before the slip delay time are fused to determine the revolution angular velocity of the non-slip rollers;

[0009] The kinematic parameters of the bearing cage are determined based on the revolution angular velocity.

[0010] Preferably, the rotational angular velocity of the roller in the sensor coordinate system is converted into the rotational angular velocity of the roller in the geodetic coordinate system using the following formula:

[0011]

[0012] Among them, the Let be the angular velocity of the i-th roller in the Earth coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; The coordinate system transformation matrix is ​​defined as follows: E represents the geodetic coordinate system, S represents the sensor coordinate system, i is less than or equal to n, i is a positive integer, and n is the number of all rollers in the rolling bearing.

[0013] Preferably, the rotational angular velocity of the non-slip roller before the sliding delay time is combined to determine the revolution angular velocity of the non-slip roller, which is achieved by the following formula:

[0014]

[0015] in, K is the angular velocity of the non-slip roller at time tl. J Represents the kinematic proportion matrix; J t J represents the sliding coefficient matrix. t =[j1(t)j2(t)…j n (t)];

[0016] If any roller does not slide within a preset time period [t1, t2], then the roller will also not slide within [t1-l, t2-l], where l is the sliding delay time.

[0017] j1(t) takes the value 1 when the roller does not slip at time t, and takes the value 0 when the roller slips at time t. This represents the angular velocity of the nth roller at time tl;

[0018] The noise value in the rotational angular velocity of the roller conforms to a Gaussian distribution.

[0019] Preferably, the sensor is eccentrically mounted in the roller.

[0020] In a second aspect, embodiments of the present invention provide a device for determining the kinematic parameters of a bearing cage, comprising:

[0021] The acquisition module is used to acquire the rotational angular velocity of the roller in the sensor coordinate system detected by the sensor;

[0022] The conversion module is used to convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system;

[0023] A filtering module is used to filter out non-slip rollers from a plurality of rollers in the rolling bearing based on the rotational angular velocity of each roller in the geodetic coordinate system; wherein the non-slip rollers satisfy the following condition: the rotational angular velocity of the roller in the geodetic coordinate system is less than or equal to a slip threshold.

[0024] The fusion module is used to fuse the rotation angular velocities of the non-slipping rollers before the sliding delay time to determine the revolution angular velocity of the non-slipping rollers.

[0025] The determination module is used to determine the kinematic parameters of the bearing cage based on the revolution angular velocity.

[0026] Preferably, the conversion module is specifically used to convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system using the following formula:

[0027]

[0028] Among them, the Let be the angular velocity of the i-th roller in the Earth coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; The coordinate system transformation matrix is ​​defined as follows: E represents the geodetic coordinate system, S represents the sensor coordinate system, i is less than or equal to n, i is a positive integer, and n is the number of all rollers in the rolling bearing.

[0029] Preferably, the fusion module is used to fuse the rotational angular velocities of the non-slipping roller before the sliding delay time using the following formula to determine the revolution angular velocity of the non-slipping roller:

[0030]

[0031] in, The angular velocity of the non-slip roller at time tl; K J Represents the kinematic proportion matrix; J t J represents the sliding coefficient matrix. t =[j1(t)j2(t)…j n (t)];

[0032] If any roller does not slide within a preset time period [t1, t2], then the roller will also not slide within [t1-l, t2-l], where l is the sliding delay time.

[0033] j1(t) takes the value 1 when the roller does not slip at time t, and takes the value 0 when the roller slips at time t. This represents the angular velocity of the nth roller at time tl;

[0034] The noise value in the rotational angular velocity of the roller conforms to a Gaussian distribution.

[0035] Preferably, the sensor is eccentrically mounted in the roller.

[0036] Thirdly, embodiments of the present invention provide an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the method for determining the kinematic parameters of a bearing cage as described in the first aspect.

[0037] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for determining the kinematic parameters of a bearing cage as described in the first aspect.

[0038] In this embodiment of the invention, an integrated sensor system inside the bearing rollers fuses the rotational angular velocities of the non-slipping rollers to determine their revolution angular velocity, thereby determining the kinematic parameters of the bearing cage. In other words, the bearing cage parameters are indirectly calculated by measuring the roller parameters. This eliminates the need for complex external testing equipment for kinematic calculations of the bearing cage, avoiding the problems caused by external measuring devices described in the background section. Compared to existing technologies, this method has lower measurement errors, higher efficiency, and better adaptability to complex operating conditions. Furthermore, in this embodiment, invalid information (the rotational angular velocities of the sliding rollers) is removed, and the rotational angular velocities of the non-slipping rollers before the sliding delay time are fused, further improving measurement accuracy. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0040] Figure 1A flowchart illustrating a method for determining the kinematic parameters of a bearing cage, as provided in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the state of a large low-speed bearing at time t, provided by an embodiment of the present invention.

[0042] Figure 3 for Figure 2 The diagram shows the state of the rollers in a large low-speed bearing at time t.

[0043] Figure 4 A schematic diagram of a large low-speed bearing provided for an embodiment of the present invention;

[0044] Figure 5 A structural block diagram of a bearing cage kinematic parameter determination device provided in an embodiment of the present invention;

[0045] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] This invention provides a method for determining the kinematic parameters of a bearing cage, such as... Figure 1 As shown, the method includes:

[0048] Step S101: Obtain the rotational angular velocity of the roller in the sensor coordinate system detected by the sensor;

[0049] Step S102: Convert the angular velocity of the roller in the sensor coordinate system into the angular velocity of the roller in the geodetic coordinate system;

[0050] Step S103: Based on the rotational angular velocity of each roller in the geodetic coordinate system, select the non-slip rollers from the multiple rollers in the rolling bearing.

[0051] Step S104: Combine the rotational angular velocities of the non-slipping rollers before the sliding delay time to determine the revolution angular velocity of the non-slipping rollers;

[0052] Step S105: Determine the kinematic parameters of the bearing cage based on the revolution angular velocity.

[0053] In step S101, a sensor can be pre-installed in the roller of the rolling bearing, and the rotational angular velocity of the roller in the sensor coordinate system can be detected by the sensor. The sensor can be a low-power wireless sensor. The sensor is installed eccentrically and fixed inside the roller, moving with the roller to measure the inertial force generated by the roller's rotation, thereby effectively calculating the kinematic state of the roller's rotation.

[0054] It should be noted that obtaining the rotational angular velocity of the rollers detected by the sensor in the sensor coordinate system includes: obtaining the rotational angular velocity of the rollers at a preset position and / or a preset number of rollers in the sensor coordinate system. That is, in the method shown in this embodiment, a preset position and / or a preset number of rollers are selected, and sensors are eccentrically installed inside each of them.

[0055] In step S102, the rotational angular velocity of the roller in the sensor coordinate system can be converted into the rotational angular velocity of the roller in the geodetic coordinate system. Figure 2 A schematic diagram of a large, heavy-duty, low-speed rolling bearing in a certain intermediate state is shown, such as... Figure 2 As shown, a preset position and a preset number (4) of rollers can be selected, and sensors can be eccentrically installed inside each roller. Figure 2 In this context, α(t) represents the rotation angle of the bearing cage at time t, i.e., the kinematic parameter of the bearing cage. (Selection...) Figure 2 The i-th roller shown is analyzed separately, and a model is established as follows: Figure 3 The two coordinate systems shown for the i-th roller are: sensor coordinate system X. iS OY iS and the geodetic coordinate system X E OY E , Figure 3 θ i (t) represents the rotational angular velocity of roller i in the sensor coordinate system at time t.

[0056] The sensor contains a high-frequency accelerometer, a high-frequency angular velocity sensor, and a wireless transceiver module. It can measure the inertial acceleration and rotational angular velocity of the roller in real time and transmit the data to a host computer. The measured inertial acceleration and rotational angular velocity both include the vector sum of the inertial acceleration generated by the roller's rotation and gravity, as well as Gaussian noise of a fixed intensity. Furthermore, the sensor inside the roller can measure three degrees of freedom signals on the roller's rolling trajectory plane: a ixs (t), a iys (t), ω izs (t), these three values ​​represent the position of the i-th roller in X. iS OY iS The x-axis acceleration, y-axis acceleration, and rotational angular velocity about the center of the roller in the coordinate system. It should be noted that a... ixs(t) and a iys The vector sum of (t) is the inertial acceleration mentioned above. ω izs (t) and θ i The values ​​(t) are the same, both representing the angular velocity of the roller's rotation in the sensor coordinate system; θ will be used in the following text. i (t) represents the angular velocity of the roller's rotation in the sensor coordinate system.

[0057] In a preferred implementation, the rotational angular velocity of the roller in the sensor coordinate system can be converted into its rotational angular velocity in the Earth coordinate system using the strapdown inertial navigation concept. This can be achieved using the following formula:

[0058]

[0059] in, Let be the angular velocity of the i-th roller in the geodetic coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; This is the coordinate system transformation matrix, whose value is related to θ. E represents the geodetic coordinate system, S represents the sensor coordinate system, i is less than or equal to n, i is a positive integer, and n is the number of rollers in the rolling bearing. Furthermore, not only can the coordinate system transformation for rotational angular velocity be performed using the strapdown inertial navigation concept, but also for the coordinate system transformation for rotational angular velocity and inertial acceleration, as shown in the following formula:

[0060]

[0061] in, This represents the inertial acceleration of the i-th roller in the sensor coordinate system. This represents the inertial acceleration of the i-th roller in the geodetic coordinate system. It should be noted that the method shown in this embodiment only requires coordinate transformation of the roller's rotational angular velocity. Using the above method, the rotational angular velocity of each roller equipped with a sensor in the sensor coordinate system can be measured simultaneously and converted into its rotational angular velocity in geodetic coordinates. Based on this, the kinematic parameters of the bearing cage can be calculated using the roller's rotational angular velocity.

[0062] In step S103, non-slipping rollers can be selected from multiple rollers in the rolling bearing based on the rotational angular velocity of each roller in the geodetic coordinate system. This embodiment of the invention considers that multiple bearing rollers may experience both rolling and slipping, but not all of them will slip simultaneously. The two main reasons for bearing roller slippage are elliptical deformation of the outer raceway and eccentricity of the inner raceway. Regarding the first reason, bearing rollers on the long axis will slip, while those on the short axis will not. Since all bearing rollers will not move simultaneously on the long axis, they will not all slip at the same time. Regarding the second reason, eccentricity of the inner raceway will cause the rollers on the eccentric side to compress, resulting in rolling on that side, while the rollers on the other side will slip. Therefore, the bearing rollers will not all slip simultaneously. If a roller slips, the measured rotational angular velocity value is invalid and should not be used to determine the kinematic parameters of the bearing cage. It must be discarded, meaning only the rotational angular velocity of the rolling rollers is retained. Therefore, embodiments of the present invention presuppose that a non-slip roller must meet the following condition: the roller's rotational angular velocity is less than or equal to the slip threshold σ. t However, when the roller's rotational angular velocity exceeds the sliding threshold σ... t If this occurs, it indicates that the roller has slipped, and its rotational angular velocity must be discarded; it cannot be used to calculate the kinematic parameters of the bearing cage.

[0063] It should be noted that after filtering out the non-slipping rollers, the rotational angular velocities of these rollers before the sliding delay time need to be merged. Based on the rotational angular velocity of each roller in the geodetic coordinate system, rollers that do not slip within a preset time period [t1, t2] are determined. If any roller does not slip within the preset time period [t1, t2], it is assumed that it will also not slip within the preset time period [t1-l, t2-l], where l is the sliding delay time. It is understandable that if a roller slips at time t, it will decelerate for a period of time before slipping. While the roller is not slipping, its rotational angular velocity value is invalid during this deceleration period. Therefore, this period is considered the sliding delay time, meaning that it is assumed that all rollers slip within this time period. The rotational angular velocity values ​​of the slipping rollers must be discarded and not used for subsequent fusion calculations, while the non-slipping rollers are retained. Correspondingly, if any roller does not slide within a preset time period [t1, t2], then that roller will also not slide within a preset time period [t1-l, t2-l].

[0064] In step S104, the rotational angular velocities of the non-slipping rollers before the sliding delay time are combined to determine the revolution angular velocity of the non-slipping rollers using the following formula:

[0065]

[0066] in, K represents the angular velocity of the non-slip roller at time tl, which can also be understood as the kinematic parameter of the bearing cage at time tl; J Represents the kinematic proportion matrix; J t J represents the sliding coefficient matrix. t =[j1(t)j2(t)…j n [j1(t)]; where j1(t) is 1 when the roller does not slip at time t, and 0 when the roller slips at time t. Thus, the process described in step S103, which involves removing slipping rollers and selecting non-slipping rollers, can be achieved. Let represent the rotational angular velocity of the nth roller at time tl. Therefore, the rotational angular velocities of the non-slipping rollers at time tl can be combined to obtain their revolution angular velocity at time tl, thus indirectly yielding the kinematic parameters of the bearing cage. The values ​​of the bearing cage's kinematic parameters are equal to the revolution angular velocity of the non-slipping rollers at time tl.

[0067] It should be noted that because the angular velocity of the rollers revolving around the central axis of the bearing inner ring is relatively small, it is impossible to generate a measurable inertial force, and the rollers will slip. Therefore, it is impossible to calculate the revolution angle or locate the faulty roller based on the kinematic parameters of a single roller. Therefore, the embodiments described in this invention fuse the rotation angular velocities of multiple rollers after removing invalid values ​​(the rotation angular velocities of rollers that have slipped). Multiple rollers increase the number of samples, while removing invalid values ​​improves the quality of the samples, thereby increasing the confidence level of the roller revolution angular velocity, which is the kinematic parameter of the bearing cage, and thus improving the accuracy of the measurement.

[0068] Because the bearing cage's axis is relatively fixed relative to the axes of the rollers in macroscopic kinematics, the bearing cage's revolution angle corresponds one-to-one with the revolution angles of each roller. Specifically, the revolution angular velocities are equal, and the difference in revolution angles is constant. Therefore, determining the kinematic parameters of the bearing cage also determines the revolution kinematic parameters of each roller. Furthermore, due to the presence of the bearing cage, the revolution kinematic parameters of each roller are directly correlated. After determining the bearing cage's kinematic parameters, the correlation between the bearing cage and the bearing rollers' revolution kinematic parameters allows for direct location of the position of any roller at any given time. Using this located position, the location of raceway damage can be further inferred. Information from each raceway can also be fused based on position information to achieve high-confidence monitoring of bearing health. Compared to related technologies, using an integrated sensor within the roller eliminates the need for additional encoders or sensor installation space, allowing for more precise location of the roller's revolution position at any given time while simultaneously obtaining raceway fault excitation.

[0069] In one possible implementation, it should be noted that the noise values ​​in the roller's rotational angular velocity all conform to a Gaussian distribution. Since the measured rotational angular velocity value is the sum of the true rotational angular velocity value and the noise value, noise reduction is essential during the measurement process to reduce measurement errors. Furthermore, the noise value of the i-th roller's rotational angular velocity at time t follows a mean of 0 and a variance of P. i Gaussian process distribution of (t), i.e., noise signal ω i (t)~N(0,P i (t)). Therefore, the noise values ​​of the n rollers at time t also follow a Gaussian distribution:

[0070]

[0071] Therefore, by fusing the information from n rollers, the measured value of the roller's rotational angular velocity can be fused and denoised, thereby further reducing the measurement error.

[0072] In summary, this invention Figure 1 The illustrated embodiment detects the rotational angular velocity of the rollers in the sensor coordinate system using sensors installed within the rollers of the rolling bearing. After coordinate system transformation, the rotational angular velocities corresponding to the non-slipping rollers are fused to obtain the kinematic parameters of the bearing cage. This eliminates invalid information (the rotational angular velocities of slipping rollers) before fusion, further improving measurement accuracy. Compared to related technologies where the kinematic parameters of the bearing cage are measured non-contactly using sensors due to limited space, the roller rotational angular velocity is easier to measure and eliminates the need for external measuring devices, saving manpower and resources. Furthermore, considering the complex operating conditions of bearings, such as heavy loads, high speeds, high temperatures, or strong acids / alkalis, which can lead to poor adaptability of external measuring devices, this embodiment indirectly calculates the kinematic parameters of the bearing cage using an integrated sensor system within the bearing rollers, exhibiting better adaptability to complex operating conditions.

[0073] Figure 4 A schematic diagram of a large low-speed bearing is shown, which can be applied to the methods described in the above embodiments. Figure 4 In. Figure 4In the bearings shown, the bearing cage, due to its specific shape and space limitations, would cause significant damage to the structure if a measuring device were directly installed on it, thus greatly affecting bearing performance. However, because the internal space of the bearing rollers is regular, the cylindrical space facilitates the installation and fixation of sensors. Using the method shown in the above embodiments, a sensor system can be installed on the bearing rollers to measure their kinematic parameters, and information fusion can be used to indirectly calculate the kinematic parameters of the bearing cage. It should be noted that the noise information of the bearing rollers follows the same Gaussian distribution, making information fusion of multiple rollers meaningful, while the fact that not all bearing rollers slide simultaneously makes fusion using purely rolling rollers meaningful. In actual industrial scenarios, bearings may operate under complex conditions such as heavy loads, high speeds, high temperatures, or strong acids / alkalis. Applying the method shown in the embodiments of this invention eliminates the need for complex large external bearing devices; instead, the kinematic parameters of the bearing cage can be indirectly calculated using an integrated sensor system inside the bearing rollers, demonstrating good adaptability to complex operating conditions.

[0074] Figure 5 A structural block diagram of a bearing cage kinematic parameter determination device 50 according to an embodiment of the present invention is shown. 50 includes:

[0075] The acquisition module 501 is used to acquire the rotational angular velocity of the roller in the sensor coordinate system detected by the sensor;

[0076] The conversion module 502 is used to convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system;

[0077] The filtering module 503 is used to filter out non-slip rollers from multiple rollers in the rolling bearing based on the rotational angular velocity of each roller in the geodetic coordinate system; wherein, the non-slip rollers meet the following condition: the rotational angular velocity of the roller in the geodetic coordinate system is less than or equal to the slip threshold.

[0078] The fusion module 504 is used to fuse the rotation angular velocities of the non-slipping rollers before the sliding delay time to determine the revolution angular velocity of the non-slipping rollers.

[0079] The determination module 505 is used to determine the kinematic parameters of the bearing cage based on the revolution angular velocity.

[0080] Therefore, invalid information (the angular velocity of the sliding rollers) can be removed before fusion, thereby further improving measurement accuracy. Furthermore, compared to related technologies that rely on sensors to directly measure the kinematic parameters of the bearing cage due to limited space, the roller's angular velocity is easier to measure and eliminates the need for external measuring devices, saving manpower and resources. Additionally, considering the potential for bearings to operate under complex conditions such as heavy loads, high speeds, high temperatures, or strong acids / alkalis, which can lead to poor adaptability of external measuring devices, this embodiment can indirectly calculate the bearing cage's kinematic parameters using an integrated sensor system within the bearing rollers, exhibiting better adaptability to complex operating conditions.

[0081] In one possible implementation, the conversion module 502 is specifically used to: convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system using the formula shown below.

[0082]

[0083] in, Let be the angular velocity of the i-th roller in the geodetic coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; is the coordinate system transformation matrix; E represents the geodetic coordinate system, S represents the sensor coordinate system, i is less than or equal to n, i is a positive integer, and n is the number of all rollers in the rolling bearing.

[0084] Preferably, the fusion module 504 is used to fuse the rotational angular velocities of the non-slipping roller before the sliding delay time using the following formula to determine the revolution angular velocity of the non-slipping roller:

[0085]

[0086] in, K is the angular velocity of the non-slip roller at time tl. J Represents the kinematic proportion matrix; J t J represents the sliding coefficient matrix. t =[j1(t)j2(t)…j n (t)];

[0087] If any roller does not slide within a preset time period [t1, t2], then the roller will also not slide within [t1-l, t2-l], where l is the sliding delay time.

[0088] j1(t) takes the value 1 when the roller does not slip at time t, and takes the value 0 when the roller slips at time t. This represents the angular velocity of the nth roller at time tl;

[0089] The noise value in the rotational angular velocity of the roller conforms to a Gaussian distribution.

[0090] In one possible implementation, the sensor is eccentrically mounted in the roller.

[0091] against Figure 5 The illustrated embodiment illustrates that, regarding the design of the bearing cage kinematics calculation algorithm, it is necessary to fully utilize the information characteristics of multiple rollers for information fusion to perform the bearing cage kinematics calculation. During algorithm design, the feasibility of multi-roller information fusion must be fully considered, and effective information is identified using bearing roller information obtained from sensors mounted on multiple bearing rollers. When the bearing operates at low speed, eccentrically mounted sensors can measure the inertial force generated by the roller's rotation, thus effectively calculating the roller's rotational kinematic state. However, due to the small angular velocity of the revolution around the bearing's inner ring central axis, a measurable inertial force cannot be generated, and individual rollers may slip, making it impossible to reconstruct the revolution kinematic state from the data of a single roller, and thus calculate the roller's revolution angle to locate the fault. Furthermore, considering the strong correlation between the revolution kinematic state of each roller and the rotation kinematic state of the cage through a very small gap, information fusion can be performed using the effective information from multiple rollers to reduce the impact of individual roller slippage, and the fused information can be used to indirectly perform the bearing cage kinematics calculation.

[0092] like Figure 6 As shown, this embodiment of the invention also provides an electronic device 60, including: a processor 601, a memory 602, and a program stored in the memory 602 and executable on the processor. When the program is executed by the processor 601, it implements the following... Figure 1 The method for determining the kinematic parameters of the bearing cage shown.

[0093] This invention also provides a computer-readable storage medium storing a computer program, which is implemented when executed by a processor. Figure 1 The steps of the method shown are the same and achieve the same technical effect, so they will not be repeated here to avoid repetition. The computer-readable storage medium mentioned includes, for example, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0094] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0096] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method of determining kinematic parameters of a bearing cage, characterized in that, The method includes: Obtain the rotational angular velocity of the roller in the sensor coordinate system as detected by the sensor; The rotational angular velocity of the roller in the sensor coordinate system is converted into the rotational angular velocity of the roller in the geodetic coordinate system; Based on the rotational angular velocity of each roller in the geodetic coordinate system, non-slip rollers are selected from a plurality of rollers in the rolling bearing; wherein the non-slip rollers satisfy the following condition: the rotational angular velocity of the roller in the geodetic coordinate system is less than or equal to the slip threshold. The rotational angular velocity of the non-slipping roller before the sliding delay time is combined to determine the revolution angular velocity of the non-slipping roller. The kinematic parameters of the bearing cage are determined based on the revolution angular velocity.

2. The method according to claim 1, characterized in that, The rotational angular velocity of the roller in the sensor coordinate system is converted into the rotational angular velocity of the roller in the geodetic coordinate system using the following formula: ； Among them, the Let be the angular velocity of the i-th roller in the Earth coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; The coordinate system transformation matrix; where E represents the geodetic coordinate system, the... The coordinate system represents the sensor coordinate system, where i is less than or equal to n, i is a positive integer, and n is the number of all rollers in the rolling bearing.

3. The method according to claim 1, characterized in that, The rotational angular velocity of the non-slip roller before the sliding delay time is combined to determine the revolution angular velocity of the non-slip roller, which is achieved by the following formula: ； in, For the non-slip roller in The angular velocity of revolution at any given moment; Represents the kinematic proportion matrix; Represents the sliding coefficient matrix. If any roller is within a preset time period [ , If the roller does not slide within the [ ], then any of the rollers will be in [ , It doesn't slide inside either. This refers to the sliding delay duration; The value is 1 when the roller does not slip at time t, and 0 when the roller slips at time t. Indicates that the nth roller is in The rotational angular velocity at time t; the noise value in the rotational angular velocity of the roller conforms to a Gaussian distribution.

4. The method according to any one of claims 1-3, characterized in that, The sensor is eccentrically mounted in the roller.

5. A device for determining the kinematic parameters of a bearing cage, characterized in that, include: The acquisition module is used to acquire the rotational angular velocity of the roller in the sensor coordinate system detected by the sensor; The conversion module is used to convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system; A filtering module is used to filter out non-slip rollers from multiple rollers in a rolling bearing based on the rotational angular velocity of each roller in the geodetic coordinate system; wherein the non-slip rollers satisfy the following condition: the rotational angular velocity of the roller in the geodetic coordinate system is less than or equal to a slip threshold. The fusion module is used to fuse the rotation angular velocities of the non-slipping rollers before the sliding delay time to determine the revolution angular velocity of the non-slipping rollers. The determination module is used to determine the kinematic parameters of the bearing cage based on the revolution angular velocity.

6. The apparatus according to claim 5, characterized in that, The conversion module is specifically used to convert the rotational angular velocity of the roller in the sensor coordinate system into the rotational angular velocity of the roller in the geodetic coordinate system using the following formula: ； Among them, the Let be the angular velocity of the i-th roller in the Earth coordinate system; Let be the angular velocity of the i-th roller in the sensor coordinate system; The coordinate system transformation matrix; where E represents the geodetic coordinate system, the... The coordinate system represents the sensor coordinate system, where i is less than or equal to n, i is a positive integer, and n is the number of all rollers in the rolling bearing.

7. The apparatus according to claim 5, characterized in that, The fusion module is used to fuse the rotational angular velocities of the non-slipping roller before the sliding delay time using the following formula to determine the revolution angular velocity of the non-slipping roller: ； in, For the non-slip roller in The angular velocity of revolution at any given moment; Represents the kinematic proportion matrix; Represents the sliding coefficient matrix. If any roller is within a preset time period [ , If the roller does not slide within the [ ], then any of the rollers will be in [ , It doesn't slide inside either. This refers to the sliding delay duration; The value is 1 when the roller does not slip at time t; the value is 0 when the roller slips at time t. Indicates that the nth roller is in The rotational angular velocity at time t; the noise value in the rotational angular velocity of the roller conforms to a Gaussian distribution.

8. The apparatus according to any one of claims 5-7, characterized in that, The sensor is eccentrically mounted in the roller.

9. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the method for determining the kinematic parameters of a bearing cage as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for determining the kinematic parameters of a bearing cage as described in any one of claims 1 to 4.

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