Intelligent joint bearing with stability self-feedback

Abstract

The application discloses a kind of stability self-feedback intelligent knuckle bearing, including bearing, and self-sensing mechanism and self-feedback mechanism being set on bearing;Annular permanent magnet fixed groove and annular coil fixed groove are respectively centrally opened on the annular inner wall of the bearing outer ring of bearing and the annular outer wall of bearing inner ring;Self-sensing mechanism is constituted by multiple permanent magnets and multiple coil windings, and they are respectively fixed in permanent magnet fixed groove coil fixed groove at equal intervals;Self-feedback mechanism is set on bearing outer ring, and it includes signal processing module, signal analysis feedback module and wireless signal transceiver connected electrically in sequence;The intelligent knuckle bearing utilizes the characteristic of synchronous motion with external mechanism to obtain voltage signal generated by movement, and judges the stability of movement based on voltage signal, to generate feedback signal for controlling external controller, finally realizes adjusting movement state, completes self-feedback regulation process.

Description

Technical Field

[0001] This invention relates to the field of bearing technology, and in particular to a smart joint bearing with self-feedback stability. Background Technology

[0002] The stability of a mechanism's motion often determines its service life, thus the movement of a mechanism cannot be separated from the monitoring of sensors. However, the high cost of sensors limits their universality in electromechanical systems, and the installation and replacement of sensors can have a certain impact on the lifespan of the mechanism.

[0003] As a key component in the motion of mechanisms, bearings have become an inevitable trend in modern industrial development for their integration with sensing functions. Currently, research on intelligent bearings focuses on integrating various sensor units into traditional bearings to monitor their operating status. However, these intelligent bearings lack sensing capabilities for the motion state of the mechanism, the ability to diagnose mechanism stability, and self-feedback functionality. Therefore, it is necessary to improve existing bearing structures by adding self-sensing and self-feedback functions to enable the bearing to monitor and provide feedback on the moving mechanism, thereby controlling external mechanisms. Summary of the Invention

[0004] The purpose of this invention is to provide a smart joint bearing with self-feedback stability that solves the above-mentioned technical problems.

[0005] Therefore, the technical solution of the present invention is as follows:

[0006] A self-feedback intelligent spherical bearing includes a bearing, a self-sensing mechanism, and a self-feedback mechanism mounted on the bearing. An annular permanent magnet fixing groove and an annular coil fixing groove are respectively centrally located on the annular inner wall of the bearing's outer ring and the annular outer wall of the bearing's inner ring, and are arranged opposite to each other. The self-sensing mechanism consists of a permanent magnet assembly and a coil winding. The permanent magnet assembly consists of multiple permanent magnets fixed at equal intervals along the circumferential direction within the permanent magnet fixing groove. The coil winding consists of multiple coils fixed at equal intervals in the coil fixing groove, with their axes arranged radially along the bearing's outer ring. The number of permanent magnets and coils is the same. The coils have wires... The coil ends are connected end to end in sequence; the self-feedback mechanism is set on the outer ring of the bearing, which includes a signal processing module, a signal analysis feedback module, and a radio transceiver connected in sequence; the signal processing module is electrically connected to the coil winding to receive the instantaneous voltage signal transmitted by the coil winding; the signal analysis feedback module analyzes the waveform of the voltage signal in the current period to determine whether the current motion is in a stable or unstable state, and sends a drive signal to the radio transceiver when the current motion is determined to be in an unstable state; the radio transceiver is connected to an external control device via wireless communication to output a feedback signal to the external control device when it receives the drive signal.

[0007] Furthermore, the bearings are double-row angular contact bearings.

[0008] Furthermore, each coil consists of a silicon steel stator and multiple turns of copper wire wound and fixed on the stator; multiple coils are made by winding a single copper wire sequentially.

[0009] Furthermore, an air gap of 0.5mm to 1mm is left between the permanent magnet and the coil, which are arranged opposite to each other.

[0010] Furthermore, the signal processing module consists of a signal amplifier and a signal filter.

[0011] Furthermore, the signal analysis feedback module determines the stability of the voltage signal using the following method:

[0012] Step 1: For the voltage signals received in sequence, with a duration t as a judgment period, plot the voltage-time signal curve for the voltage signals within the same judgment period;

[0013] Step 2: Extract the second half of the voltage-time signal curve and obtain the period of the second half of the waveform to obtain the amplitude under each period;

[0014] Step 3: In the subsequent half of the waveform curve, the amplitude of the first cycle arranged in time sequence is taken as the reference amplitude Peak0. The amplitudes Peak0 for the other cycles are calculated sequentially. iThe deviation ratio S from the reference amplitude Peak0: S = (|Peak0) i -Peak0| / Peak0)×100%; if any peak value exists... i If the deviation ratio S from the reference amplitude Peak0 is greater than 5%, the current motion is determined to be in an unstable state.

[0015] Step 4: When the determination result is that the current motion is in an unstable state, a drive signal is issued.

[0016] Furthermore, in step 1, the determination period t is 10s to 20s.

[0017] Furthermore, the self-feedback mechanism also includes a power supply, which is connected to the signal processing module, the signal analysis feedback module, and the radio transceiver, respectively.

[0018] Compared with existing technologies, this intelligent joint bearing with self-feedback stability improves upon the existing bearing structure by adding a self-sensing mechanism and a self-feedback mechanism to the bearing. It acquires the voltage signal generated by the motion by utilizing the characteristic of synchronous movement with external mechanisms, and determines the motion stability based on the voltage signal, thereby generating a feedback signal for controlling the external controller. Ultimately, this achieves the adjustment of the motion state and completes the self-feedback adjustment process. Furthermore, this structural improvement does not damage the basic properties of the bearing, allowing it to maintain its normal service life. It also boasts advantages such as simple structure, convenient manufacturing, and low cost, making it well-suited for application in the bearing industry. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the usage state of the intelligent joint bearing with self-feedback stability of the present invention.

[0020] Figure 2 This is a schematic diagram of the intelligent joint bearing with self-feedback stability of the present invention.

[0021] Figure 3 This is a front view of the intelligent joint bearing with self-feedback stability according to the present invention.

[0022] Figure 4 This is a radial cross-sectional view of the intelligent joint bearing with self-feedback stability according to the present invention.

[0023] Figure 5 This is a side view of the inner ring of the intelligent spherical bearing with stability self-feedback according to the present invention.

[0024] Figure 6 This is a front view of the outer ring of the intelligent joint bearing with stability self-feedback according to an embodiment of the present invention;

[0025] Figure 7This is a schematic diagram of the voltage signal waveform obtained by the intelligent joint bearing with stability self-feedback under the excitation of a 1.6Hz pulse signal in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the voltage signal waveform obtained by the intelligent joint bearing with stability self-feedback under the excitation of a 2Hz pulse signal in an embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the voltage signal waveform obtained by the intelligent joint bearing with stability self-feedback under the excitation of a 5.8Hz pulse signal by the controller in an embodiment of the present invention;

[0028] Figure 10 This is a circuit diagram of the self-feedback mechanism of the self-feedback intelligent joint bearing according to an embodiment of the present invention. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0030] See Figure 2 and Figure 3 This intelligent joint bearing with self-feedback stability is an improvement on the double-row angular contact bearing, and it is specifically composed of a bearing, a self-sensing mechanism and a self-feedback mechanism.

[0031] The bearing includes an inner ring 5 and an outer ring 6. The outer ring 6 is fitted outside the inner ring 5 and is rotatably connected by a double row of balls 7 disposed between the two.

[0032] The self-sensing mechanism consists of a permanent magnet assembly and a coil winding assembly. The permanent magnet assembly consists of multiple permanent magnets 11, and the coil winding assembly consists of multiple coils 12, with the number of permanent magnets 11 and coils 12 being the same. A ring-shaped permanent magnet fixing groove and a ring-shaped coil fixing groove are respectively centrally located on the inner annular wall of the outer ring 6 of the bearing and the outer annular wall of the inner ring 5 of the bearing, and the permanent magnet fixing groove and the coil fixing groove are arranged opposite to each other. Multiple permanent magnets 11 are fixed at equal intervals in the permanent magnet fixing grooves along the circumferential direction, and multiple coils 12 are fixed at equal intervals in the coil fixing grooves with their axes arranged radially along the outer ring 6 of the bearing, and the coil ends of the multiple coils 12 are connected end-to-end in sequence.

[0033] In the self-sensing mechanism, the specific number of permanent magnets 11 and coils 12, as well as the number of turns of copper wire wound on coil 12, can be adjusted according to the actual situation so that the self-feedback mechanism can collect effective voltage signals for voltage signal stability analysis.

[0034] See Figure 4 , Figure 5 and Figure 6 In this embodiment, the self-sensing mechanism consists of twelve permanent magnets 11 and twelve coils 12. The permanent magnets 11 are cubic permanent magnets with curved bottom surfaces, which are embedded and fixed in permanent magnet fixing slots. The coils 12 consist of a silicon steel stator and multiple turns of copper wire wound and fixed on the stator. The coils 12 are embedded and fixed in the coil winding slots through the stator. In order to connect the coil ends of the twelve coils 12 one after another, the twelve coils 12 are wound sequentially using a single copper wire. In the initial state, there is an air gap of 0.5 mm between the coils 12 and the permanent magnets 11 that are arranged opposite each other.

[0035] See Figure 2 The self-feedback mechanism includes a signal processing module 8, a signal analysis feedback module 9, and a radio transceiver 10. It is installed in a fixing groove on the outer side panel of the bearing outer ring 6, and a wiring hole 13 communicating with the coil fixing groove is opened on the adjacent side of the fixing groove of the bearing outer ring 6, so that the signal processing module 8 is electrically connected to the first and last copper wire terminals of the twelve coils 12 to receive the instantaneous voltage signal transmitted by the copper wire. The signal analysis feedback module 9 is electrically connected to the radio transceiver 10, so that the signal analysis feedback module 9 can wirelessly connect with the external control device through the radio transceiver 10, and then send the feedback signal output by the signal analysis feedback module 9 to the external control device through the radio transceiver 10.

[0036] The signal processing module consists of a connected signal amplifier and a signal filter, which are not in any particular order. Its function is to continuously amplify and denoise the received instantaneous voltage signal to obtain an amplified and denoised voltage signal.

[0037] The signal analysis feedback module 9 analyzes the waveform of the voltage signal in the current period to determine whether the current motion is in a stable or unstable state. When the current motion is determined to be in an unstable state, it sends a drive signal to the radio transceiver 10. In this embodiment, the signal analysis feedback module 9 specifically adopts a microcontroller to process the voltage signal in the current period.

[0038] Specifically, the method by which the signal analysis feedback module 9 judges the stability of the voltage signal is as follows:

[0039] Step 1: For the voltage signals received in sequence, with a duration t as a judgment period, plot the voltage-time signal curve for the voltage signals within the same judgment period;

[0040] Step 2: Extract the second half of the voltage-time signal curve and obtain the period of the second half of the waveform to obtain the amplitude under each period;

[0041] Step 3: The amplitude of the first cycle in the subsequent half of the waveform curve, arranged in chronological order, is the reference amplitude Peak0 for determining whether the segmented pendulum is in a stable motion state. The amplitudes Peak0 for the other cycles are calculated sequentially. i The deviation ratio S from the reference amplitude Peak0: S = (|Peak0) i -Peak0| / Peak0)×100%; if any peak value exists... i If the deviation S from the reference amplitude Peak0 is greater than 5%, the current motion of the magnetic pendulum is determined to be in an unstable state; conversely, if the peak value Peak0 in other periods is less than 5%, the current motion of the magnetic pendulum is determined to be in an unstable state. i If the deviation ratio S from the reference amplitude Peak0 is ≤5%, then the current motion of the magnetic pendulum is determined to be in a stable state.

[0042] Step 4: If the determination result in Step 3 is that the current motion of the magnetic pendulum is in an unstable state, then a drive signal is issued; if the determination result in Step 3 is that the current motion of the magnetic pendulum is in a stable state, then no drive signal is issued.

[0043] The radio transceiver 10 is connected to the signal analysis feedback module 9 so that when the signal analysis feedback module 9 outputs a drive signal, the radio transceiver 10 outputs a feedback signal to an external control device.

[0044] See Figure 10 In practical applications, the signal processing module 8, the signal analysis feedback module 9, and the radio transceiver 10 can be integrated on a circuit board. The circuit board is also equipped with a power supply module to provide power. After the voltage signal is amplified and noise-reduced by the signal processing module 8, it is collected by the signal analysis feedback module 9 and subjected to signal stability analysis. Then, it is sent by the radio transceiver 10 to the external control device to provide feedback.

[0045] The following describes the working principle of the intelligent joint bearing based on this stability self-feedback in actual testing scenarios.

[0046] See Figure 1The magnetic pendulum 2 is fixed to the transmission shaft 4, which rotates synchronously with the magnetic pendulum 2, by a set screw. In this embodiment, the intelligent joint bearing 3 with stability self-feedback is fixed to the transmission shaft 4 through the center hole of the bearing inner ring 5, and the bearing outer ring 6 is fixed to the bearing mounting seat. The magnetic pendulum 2 is controlled by the controller 1. Specifically, the controller 1 is an excitation coil 1 with a controllable pulse signal. The excitation coil 1 uses excitation current signals of different frequencies to make the magnetic pendulum produce different motion states, specifically divided into stable motion state and unstable motion state. When the magnetic pendulum 2 is rotated by the controller 1, the bearing inner ring 5 rotates synchronously, while the bearing outer ring 6 remains stationary. At this time, the permanent magnet assembly set on the bearing inner ring 5 and the coil winding set on the bearing outer ring 6 undergo relative motion, thereby generating an instantaneous voltage signal inside the coil winding. The microcontroller 9 sends a feedback signal to the controller 1 through the radio signal transceiver 10 to control the excitation coil 1 to adjust the frequency of the excitation signal.

[0047] In actual scenario testing, the twelve permanent magnets 11 of the intelligent joint bearing 3 with stability self-feedback are all cubic permanent magnets with dimensions of 7mm×5mm×2.5mm, which are fixed in the permanent magnet setting slots at 30° intervals; the twelve coils 12 are all wound on silicon steel stators with a diameter of 4mm, and each silicon steel stator is wound with 200 turns of 0.1mm copper wire; the signal processing module 8 of the self-feedback mechanism is set to first perform noise reduction processing on the instantaneous voltage signal, and then amplify it by 20 times; in the microcontroller 9, the judgment period t is set to 10s, that is, the stability judgment data is based on the voltage signal waveform diagram of the last 5s; when the signal feedback module receives a signal and determines that it is in an unstable state, it sends an adjustment signal to the controller 1 through the radio signal transceiver 10, and is set to gradually adjust the pulse signal frequency of the excitation coil in steps of 0.1Hz. In addition, after each adjustment, the controller 1 needs to continuously judge whether the voltage signal is stable until the magnetic pendulum 2 reaches a stable motion state; when the magnetic pendulum is determined to be in a stable motion state, the controller 1 will no longer be adjusted.

[0048] like Figure 7 The diagram shows the voltage signal waveform obtained by the intelligent joint bearing 3 with stability self-feedback under the excitation of the controller 1 with a 1.6Hz pulse signal. It can be seen from the waveform that the amplitude error between each cycle and the amplitude error of the first cycle is less than 5%, that is, the magnetic pendulum 2 is in a stable motion state during the current period.

[0049] like Figure 8The diagram shows the voltage signal waveform obtained by the intelligent joint bearing 3 with stability self-feedback under the excitation of the controller 1 with a 2Hz pulse signal. It can be seen from the waveform that the amplitude in each cycle is irregular and the error between each amplitude is significantly greater than 5%, that is, the magnetic pendulum 2 is obviously in an unstable motion state in the current period. At this time, it is necessary to adjust the motion state of the magnetic pendulum 2 by adjusting the excitation signal frequency of the controller 1.

[0050] According to the set conditions, the pulse signal frequency of the excitation coil is gradually adjusted in steps of 0.1 Hz, and the voltage signal is continuously checked for stability after adjustment. Figure 9 The diagram shows the voltage signal waveform obtained by the intelligent joint bearing 3 with stability self-feedback under the excitation of the controller 1 by a 5.8Hz pulse signal. It can be seen from the waveform that after 38 adjustments, the motion state of the magnetic pendulum 2 returns to a stable state.

[0051] It can be seen that the intelligent joint bearing 3 with stability self-feedback analyzes and self-feedback adjusts the motion state of the magnetic pendulum 2 through the self-sensing device, so as to achieve the purpose of controlling the magnetic pendulum 2 to maintain a stable motion state.

Claims

1. A smart joint bearing with self-feedback stability, characterized in that, The system includes a bearing, and a self-sensing mechanism and a self-feedback mechanism mounted on the bearing. A ring-shaped permanent magnet fixing groove and a ring-shaped coil fixing groove are respectively centrally located on the inner ring of the bearing outer ring (6) and the outer ring of the bearing inner ring (5), and are arranged opposite to each other. The self-sensing mechanism consists of a permanent magnet assembly and a coil winding. The permanent magnet assembly consists of multiple permanent magnets (11) fixed at equal intervals along the circumferential direction in the permanent magnet fixing groove. The coil winding consists of multiple coils (12) fixed at equal intervals in the coil fixing groove with their axes arranged radially along the outer ring (6) of the bearing. The number of permanent magnets (11) and coils (12) is the same. The coil ends on the multiple coils (12) are sequentially arranged end to end. The self-feedback mechanism is set on the outer ring (6) of the bearing and includes a signal processing module (8), a signal analysis feedback module (9), and a radio transceiver (10) connected in sequence. The signal processing module (8) is electrically connected to the coil winding to receive the instantaneous voltage signal transmitted by the coil winding. The signal analysis feedback module (9) analyzes the waveform of the voltage signal in the current period to determine whether the current motion is stable or unstable. When the current motion is determined to be unstable, it sends a drive signal to the radio transceiver (10). The radio transceiver (10) is connected to the external control device by wireless communication to output a feedback signal to the external control device when it receives the drive signal.

2. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, The bearing is a double-row angular contact bearing.

3. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, Each coil (12) consists of a silicon steel stator and multiple turns of copper wire wound and fixed on the stator; multiple coils (12) are wound sequentially using a single copper wire.

4. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, An air gap of 0.5 mm to 1 mm is left between the permanent magnet (11) and the coil (12) which are arranged opposite to each other.

5. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, The signal processing module (8) consists of a signal amplifier and a signal filter.

6. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, The method by which the signal analysis feedback module (9) judges the stability of the voltage signal is as follows: Step 1: For the voltage signals received in sequence, with a duration t as a judgment period, plot the voltage-time signal curve for multiple voltage signals within the same judgment period; Step 2: Extract the second half of the voltage-time signal curve and obtain the period of the second half of the waveform to obtain the amplitude under each period; Step 3: In the subsequent half of the waveform curve, the amplitude of the first cycle arranged in time sequence is taken as the reference amplitude Peak0. The amplitudes Peak0 for the other cycles are calculated sequentially. i The deviation ratio S from the reference amplitude Peak0: S = (|Peak0) i -Peak0| / Peak0)×100%; If any value Peak exists i If the deviation ratio S from the reference amplitude Peak0 is greater than 5%, the current motion is determined to be in an unstable state. Step 4: When the determination result is that the current motion is in an unstable state, a drive signal is issued.

7. The intelligent joint bearing with self-feedback stability according to claim 6, characterized in that, In step 1, the determination period t is 10s to 20s.

8. The intelligent joint bearing with self-feedback stability according to claim 1, characterized in that, The self-feedback mechanism also includes a power supply, which is connected to the signal processing module (8), the signal analysis feedback module (9), and the radio signal transceiver (10), respectively.

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