Motion posture monitoring method and device of bearing retainer, medium and equipment

Abstract

The invention discloses a motion posture monitoring method and device of a bearing retainer, a medium and equipment, and relates to the technical field of vibration measurement. Acquiring a pulse signal which is acquired by a sensor and is generated when the bearing retainer moves; a plurality of trapezoidal stripe grooves are formed in the end surface of the bearing retainer; intercepting the pulse signal through a time window with a preset length to obtain a pulse interception signal comprising a plurality of pulses; obtaining a first-order differential of the intercepted pulse signal to obtain a first-order differential signal, and calculating a segmentation threshold value of the first-order differential signal through a maximum between-class variance method; determining a pulse edge of the pulse interception signal through the segmentation threshold, and determining a plurality of pulse widths of the pulse interception signal according to the pulse edge; the pulse width represents the time required by the trapezoidal stripe groove to pass through the sensor; and determining the motion posture of the bearing retainer through the plurality of pulse widths. The method can accurately measure the motion posture of the bearing retainer.

Description

Technical Field

[0001] The present invention relates to the field of vibration measurement technology, and in particular to a method, device, medium and equipment for monitoring the motion posture of a bearing retainer. Background Art

[0002] The bearing cage (sometimes called retaining ring or retaining structure) is an important part of the bearing. Its main function is to maintain the position and spacing of rolling elements (such as balls or rollers), thereby preventing them from contacting and wearing each other. By monitoring the motion state of the bearing cage, abnormalities such as positioning deviation, wear or damage can be detected early, thereby reducing the risk of major failures.

[0003] Among them, since the axial position of the bearing is usually the working end (such as the axial position of the spindle is the tool and the workpiece) or the installation positioning end, the installation of the sensor will be greatly restricted under the premise that the axial size of the bearing cannot be significantly changed. Therefore, the current movement posture of the bearing cage is usually measured from the outside; for example, taking the measurement of the axial displacement of the bearing cage as an example, it can be achieved in three ways, namely edge type, variable area type and variable distance type; however, these methods all require a fixed measuring ring, which greatly changes the structure of the cage itself, so that the measurement results cannot truly reflect the actual situation, and the linearity of the correspondence between the magnetic field changes caused by the edge, area and distance transformations and the axial displacement of the bearing cage is poor, and the measurement accuracy is difficult to guarantee.

[0004] Therefore, the prior art lacks a method capable of accurately measuring the motion posture of the bearing retainer. Summary of the invention

[0005] Based on this, it is necessary to provide a bearing retainer motion posture monitoring method, device, medium and equipment to address the above technical problems. The method can accurately measure the motion posture of the bearing retainer.

[0006] The present invention adopts the following technical solutions:

[0007] The present invention provides a method for monitoring the motion posture of a bearing retainer, comprising:

[0008] The pulse signal generated by the bearing cage during movement is acquired by the sensor; there are multiple trapezoidal stripe grooves on the end surface of the bearing cage;

[0009] Intercepting a pulse signal through a time window of a preset length to obtain a pulse interception signal including a plurality of pulses;

[0010] Obtain the first-order differential of the intercepted pulse signal to obtain a first-order differential signal, and calculate the segmentation threshold of the first-order differential signal by using the maximum inter-class variance method;

[0011] The pulse edge of the pulse interception signal is determined by dividing the threshold value, and according to the pulse edge, a plurality of pulse widths of the pulse interception signal are determined; the pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor;

[0012] The motion posture of the bearing cage is determined by multiple pulse widths.

[0013] Preferably, determining the pulse edge of the pulse interception signal by segmenting the threshold value comprises:

[0014] Extract the extreme value points greater than the segmentation threshold in the first-order differential signal to obtain the initial pulse edge of the pulse interception signal;

[0015] If the adjacent peak points in the initial pulse edge are all maximum values ​​or minimum values, the extreme value points with smaller absolute values ​​among the adjacent peak points are removed to obtain the pulse edge of the pulse interception signal.

[0016] Preferably, determining a plurality of pulse widths of the pulse interception signal according to the pulse edge comprises:

[0017] Calculate the zero-crossing point of the second-order differential signal of the pulse interception signal at the pulse edge according to the spline curve fitting, and determine the time when the signal edge of the pulse interception signal occurs;

[0018] A plurality of pulse widths are determined according to a time difference between signal edge occurrence moments corresponding to a rising edge and a falling edge in a pulse interception signal.

[0019] Preferably, the motion posture includes axial displacement; determining the motion posture of the bearing retainer by a plurality of pulse widths includes:

[0020] The axial displacement of the bearing cage is determined according to the pulse width at adjacent moments, the linear velocity at adjacent moments and the bottom angle of the trapezoidal stripe groove; the calculation formula of the axial displacement is:

[0021]

[0022] Among them, Δ z is the axial displacement of the bearing cage, v0 and v1 are the linear velocities at two adjacent moments, t0 and t1 are the pulse widths at two adjacent moments, and θ is the bottom angle of the trapezoidal stripe groove.

[0023] Preferably, the motion posture includes a rotation speed; determining the motion posture of the bearing retainer by a plurality of pulse widths includes:

[0024] The speed of the bearing cage is determined according to the number of pulse widths, the number of trapezoidal stripe grooves on the bearing cage and the preset length time window; the speed is calculated as follows:

[0025]

[0026] Wherein, n is the rotation speed of the bearing cage, m is the number of pulse widths, M is the number of trapezoidal stripe grooves, and t is the preset length time window.

[0027] Preferably, the motion posture includes radial displacement; the method further includes:

[0028] According to the pulse signal, the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing cage at adjacent moments is determined; the pulse signal is obtained by converting the distance signal collected by the displacement sensor from the distance signal of the bearing cage;

[0029] The radial displacement of the bearing cage is determined based on the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing cage at adjacent moments.

[0030] The present invention provides a motion posture monitoring device for a bearing retainer, comprising:

[0031] A receiving module is used to obtain the pulse signal generated by the bearing cage when it moves, which is collected by the sensor; there are multiple trapezoidal stripe grooves on the end surface of the bearing cage;

[0032] An interception module, used for intercepting a pulse signal through a time window of a preset length to obtain a pulse interception signal including a plurality of pulses;

[0033] The first determination module is used to obtain the first-order differential of the intercepted pulse signal, obtain the first-order differential signal, and calculate the segmentation threshold of the first-order differential signal by the maximum inter-class variance method; determine the pulse edge of the pulse interception signal by the segmentation threshold, and determine multiple pulse widths of the pulse interception signal according to the pulse edge; the pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor;

[0034] The second determination module is used to determine the movement posture of the bearing retainer through multiple pulse widths.

[0035] The present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the motion posture monitoring method of the bearing retainer is implemented.

[0036] The present invention provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the motion posture monitoring method of the bearing retainer is implemented when the processor executes the program.

[0037] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects:

[0038] In the present invention, a plurality of trapezoidal stripe grooves are arranged on the end face of the bearing retainer, and then a pulse signal generated by the bearing retainer when it moves, that is, a motion signal of the bearing retainer, is collected. The pulse width in the pulse signal can represent the time required for the trapezoidal stripe grooves on the bearing retainer to pass through the sensor, so that the motion state of the bearing retainer can be determined according to the pulse width; therefore, the pulse signal is intercepted through a preset length time window to obtain a pulse interception signal, and a segmentation threshold is calculated, and the pulse edge of the pulse interception signal is determined through the segmentation threshold; and then the pulse width of the pulse interception signal is determined according to the pulse edge, thereby ensuring the accuracy of the determined pulse width, and thus improving the measurement accuracy of the motion posture of the bearing retainer. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 A schematic diagram of the structure of measuring the axial displacement of a bearing cage by radially arranging sensors provided by the present invention;

[0041] Figure 2 A schematic flow chart of a method for monitoring the motion posture of a bearing retainer provided by the present invention;

[0042] Figure 3 A schematic structural diagram of a motion posture measurement solution for a bearing retainer provided by the present invention;

[0043] Figure 4 A typical output pulse signal curve diagram of a displacement sensor provided by the present invention;

[0044] Figure 5 A schematic diagram of a first-order differential of a pulse signal and its local extreme point provided by the present invention;

[0045] Figure 6 A schematic diagram of a curve of a first-order differential pulse edge extreme value screening result of intercepting a pulse signal provided by the present invention;

[0046] Figure 7 A schematic diagram of a second-order differential zero-crossing point fitting solution at a pulse edge of a pulse interception signal provided by the present invention;

[0047] Figure 8 A schematic diagram of the time variation of a pulse edge of a pulse interception signal provided by the present invention;

[0048] Fig. 9 A schematic diagram of axial displacement measurement provided by the present invention;

[0049] Fig.10 A comparison diagram of pulse widths before and after axial displacement provided by the present invention;

[0050] Fig.11 A schematic diagram of a motion posture monitoring device for a bearing retainer provided by the present invention;

[0051] Fig.12 A schematic diagram of a computer device for implementing a bearing retainer motion posture monitoring method provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] In response to the problem of axial space limitation, some scholars have proposed a solution to measure the axial displacement of the bearing cage by radially arranging sensors. This solution can be implemented through three principles, namely edge type, variable area type and variable distance type.

[0054] The principle of edge measurement method is as follows Figure 1 As shown in (a), the inductance or eddy current sensor is arranged at the step position of the measuring ring. When the retainer is axially offset, the magnetic field measured by the sensor changes, which can reflect the size of the axial offset. The principle of the variable area measurement method is as follows Figure 1 As shown in (b), a measuring ring composed of two sub-rings of different materials is fixed on the retaining frame. When the retaining frame produces axial displacement, the change in the area of ​​the two materials facing the sensor probe causes a change in magnetic permeability, thereby reflecting the size of the axial offset. The principle of the variable distance measurement method is as follows Figure 1 As shown in (c), the side shape of the measuring ring is designed to be a cone. When the retaining frame is axially offset, the distance between the side of the measuring ring and the sensor changes, causing the induced magnetic field to change, thereby knowing the size of the axial offset.

[0055] In summary, the existing radial measurement scheme for the axial vibration of the cage still has some shortcomings: (1) It is necessary to fix the measuring ring, which greatly changes the structure of the cage itself, so that the measurement results cannot truly reflect the actual situation; (2) The linearity of the correspondence between the magnetic field change caused by the edge, area, and distance transformation and the axial displacement of the cage is poor, and the measurement accuracy is difficult to guarantee; (3) The radial and axial displacement measurement results are strongly coupled, and the signal analysis is difficult.

[0056] Based on this, the present invention provides a method for monitoring the motion posture of a bearing retainer. Under the premise of not installing other parts, not destroying the structure of the bearing retainer itself, and not affecting the normal operation of the bearing, the adaptive pulse signal extraction method based on the differential algorithm and the OSTU algorithm can realize the accurate measurement of its axial vibration, radial displacement and rotation speed, and the measurement of multiple physical quantities is realized through a single sensor. Specifically, the present invention uses laser engraving technology or grating pressing technology to process trapezoidal stripe grooves on the end face of the bearing retainer, and arranges multiple displacement sensor probes in the bearing seat. Based on the changes in the width and amplitude of the pulse signal measured by the displacement sensor, the radial displacement and axial displacement of the retainer during the working process are obtained, and based on the pulse repetition frequency of the pulse signal output by the displacement sensor, the rotation speed of the retainer can be obtained.

[0057] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0058] Figure 2 The present invention is a flow chart of a method for monitoring the motion posture of a bearing retainer, which specifically includes the following steps:

[0059] S201, obtaining a pulse signal generated by a bearing retainer during movement and collected by a sensor; a plurality of trapezoidal stripe grooves are present on an end surface of the bearing retainer.

[0060] First, before monitoring the motion posture of the bearing cage, trapezoidal stripe grooves are processed on the end face of the bearing cage using laser engraving technology or grating pressing technology, and multiple displacement sensors are arranged along the outer ring of the bearing on the bearing seat, such as Figure 3 As shown, Figure 3 Only one displacement sensor is illustrated.

[0061] Each displacement sensor is a sampling unit. Each sampling unit samples the motion signal of the bearing cage at a fixed sampling frequency. For example, the single sampling duration is 10 seconds. After the sampling is completed, the collected motion signal of the bearing cage is uploaded to the processing module. The processing module processes and analyzes the motion signal of the bearing cage to determine the motion posture of the bearing cage. The motion signal collected by the sensor is a pulse signal, such as Figure 4 As shown, Figure 4 This is a typical output pulse signal curve of a displacement sensor. It should be noted that the displacement sensor is a laser ranging sensor, which actually collects the distance between the sensor probe and the back surface being measured. After sampling, the displacement sensor will convert the distance signal into a voltage signal (pulse signal) and send it out.

[0062] It should be noted that the processing module may be a server arranged on the business platform, or a device such as a desktop computer, a notebook computer, or a control unit that can execute the solution of the present invention.

[0063] S202, intercepting a pulse signal through a time window of preset length to obtain a pulse interception signal including a plurality of pulses.

[0064] After receiving the pulse signal sent by the displacement sensor, the processing module can first filter and de-noise the pulse signal to filter out environmental noise and static offset, and then the processing module performs time window interception on the pulse signal after filtering and de-noising to obtain a pulse interception signal, that is, the intercepted pulse signal described below is the intercepted pulse signal after filtering and de-noising. For the convenience of explanation, the present invention will not be repeated.

[0065] Among them, the preset length time window can be determined based on the time required for the bearing retainer to rotate one circle. For example, the preset length time window is less than the time required for the bearing retainer to rotate one circle, and the difference between the time required for the bearing retainer to rotate one circle and the time required for the bearing retainer to rotate one circle is within a preset range, thereby ensuring that the length of the pulse interception signal is not too long or too short, so that the pulse interception signal can include multiple pulses.

[0066] Therefore, by intercepting the pulse signal with a preset time window length, a pulse intercept signal including multiple pulses is obtained; for example, if the pulse signal is 10s and the preset time window length is 4s, a 4s signal is intercepted from the pulse signal to obtain a pulse intercept signal. The interception method may be random interception.

[0067] S203, acquiring the first-order differential of the intercepted pulse signal to obtain a first-order differential signal, and calculating a segmentation threshold of the first-order differential signal by using a maximum inter-class variance method.

[0068] Specifically, the first-order differential of the intercepted pulse signal is calculated to obtain the value range of the first-order differential signal. The first-order differential and its local extreme point diagram are as follows: Figure 5 As shown; more preferably, in order to fully capture the pulse fluctuation, the pulse interception signal is fitted with a polynomial piece by piece, and the first-order differential is calculated point by point using the fitted signal to obtain a first-order differential signal. Calculating the first-order differential can eliminate high-frequency vibration interference.

[0069] Then, the maximum inter-class variance method (Otsu's Method, OSTU) is used to solve the optimal segmentation threshold for signal segmentation, so that the first-order differential signal inside and outside the threshold interval has the largest inter-class variance. Then, the pulse edge of the first-order differential signal is extracted according to the obtained segmentation threshold to obtain the pulse edge of the pulse interception signal.

[0070] Specifically, calculate the histogram of the first-order differential signal: First, calculate the histogram of the first-order differential signal, which will give the distribution of the signal amplitude. Then calculate the global mean: calculate the mean of the entire first-order differential signal, which will be used for the subsequent inter-class variance calculation. Traverse possible thresholds: For each possible threshold, divide the first-order differential signal into two parts: one part is the signal points less than or equal to the threshold, and the other part is the signal points greater than the threshold. Calculate the inter-class variance: For each threshold, calculate the inter-class variance of the two parts of the signal. The calculation formula for the inter-class variance is: Among them, w0 and w1 are the ratios of the two parts of the signal points, u0 and u1 are the means of the two parts of the signal, and u is the global mean.

[0071] Find the threshold corresponding to the maximum inter-class variance: After traversing all possible thresholds, find the threshold that maximizes the inter-class variance. This threshold is the required segmentation threshold.

[0072] S204, determining the pulse edge of the pulse interception signal by dividing the threshold value, and determining a plurality of pulse widths of the pulse interception signal according to the pulse edge; the pulse width represents the time required for the trapezoidal stripe groove to pass through the sensor.

[0073] In an exemplary embodiment, the pulse edge of the pulse interception signal is determined by a segmentation threshold, including: extracting extreme value points in the first-order differential signal that are greater than the segmentation threshold to obtain the initial pulse edge of the pulse interception signal; if adjacent peak points in the initial pulse edge are all maximum values ​​or minimum values, then the extreme value points with smaller absolute values ​​in the adjacent peak points are eliminated to obtain the pulse edge of the pulse interception signal.

[0074] According to the obtained segmentation threshold, the first-order differential signal extreme value points that meet the conditions are screened out to complete the extraction of the initial pulse edge; according to the characteristics of the pulse signal, the first-order differential extreme value points of the pulse interception signal should be the maximum and minimum values ​​appearing alternately. If the two adjacent peak points are both maximum or minimum values, the extreme value point with the larger peak absolute value is taken as the actual edge signal, and the edge extreme value with the smaller peak absolute value is eliminated to complete the pulse "true edge" screening. The result is as follows Figure 6 shown.

[0075] Optionally, determining multiple pulse widths of a pulse interception signal based on a pulse edge includes: first determining a signal edge occurrence moment of the pulse interception signal based on the pulse edge, and then determining the pulse width based on a time difference between signal edge occurrence moments corresponding to a rising edge and a falling edge in the pulse interception signal.

[0076] Specifically, the zero-crossing point of the second-order differential signal of the pulse interception signal near the pulse edge is calculated by spline curve fitting to obtain the occurrence time of the pulse signal edge, such as Figure 7As shown; the pulse width can be obtained by calculating the time difference between the latest rising edge and the falling edge, such as Figure 8 shown.

[0077] The pulse width meets:

[0078] t d (i) = t' i -t i (1)

[0079] Among them, t' i and t i are the signal edge occurrence moments corresponding to the i-th rising edge and falling edge in the pulse interception signal, t d (i) is the width of the ith pulse.

[0080] S205, determining the movement posture of the bearing retainer through multiple pulse widths.

[0081] After the pulse width is obtained, the pulse width may be firstly subjected to mean filtering to reduce the fluctuation of the calculation result to ensure the validity of the calculation result. Then, the motion posture of the bearing retainer is calculated by the pulse width after the mean filtering. It should be noted that the motion posture of the bearing retainer determined by the pulse width described in the following embodiments is essentially the motion posture of the bearing retainer determined by the pulse width after the mean filtering.

[0082] Among them, one pulse width can represent the time required for a trapezoidal stripe groove to pass through the sensor, that is, the time required for the sensor to collect a trapezoidal stripe groove; therefore, the movement posture of the bearing retainer can be determined based on multiple pulse widths.

[0083] Optionally, the motion posture includes axial displacement; the motion posture of the bearing retainer is determined by multiple pulse widths, including: determining the axial displacement of the bearing retainer based on the pulse widths at adjacent moments, as well as the linear velocity at adjacent moments and the bottom angle of the trapezoidal stripe groove.

[0084] Specifically, the pulse width variation is converted into axial displacement through a known geometric relationship. Fig. 9 As shown in the figure, the stripe width of the trapezoidal stripe groove on the end face of the cage is different at different axial positions, and the measured pulse width will change; the pulse width change can be converted into the stripe width change by multiplying the linear velocity. When axial displacement occurs, the concave stripe width of the trapezoidal stripe groove at the measuring point will change from l0 to l1. After geometric calculation, the axial displacement Δz of the cage can be obtained:

[0085]

[0086] Among them, Δ z is the axial displacement of the bearing cage, v0 and v1 are the linear velocities at two adjacent moments, t0 and t1 are the pulse widths at two adjacent moments, and θ is the bottom angle of the trapezoidal fringe groove.

[0087] Among them, after the pulse signal is extracted, the rotation frequency of the retaining frame can be determined according to the frequency of the pulse signal, and the corresponding linear speed can be calculated according to the rotation frequency and the radius at the measuring point. Since the rotation frequency may not be constant, it is distinguished by a subscript. In actual application, there may be multiple ways to determine the linear speed, so it is not limited in the present invention.

[0088] like Fig.10 As shown, Fig.10 This is a comparison chart of the pulse width before and after axial displacement. The axial displacement of the bearing cage is the axial change of the bearing cage before and after movement.

[0089] In addition, the motion posture also includes the rotation speed; the rotation frequency of the cage is obtained by the pulse repetition frequency of the obtained pulse signal, and then the rotation speed of the cage is obtained. Specifically, the motion posture of the bearing cage is determined by multiple pulse widths, including: determining the rotation speed of the bearing cage according to the number of pulse widths, the number of trapezoidal stripe grooves on the bearing cage and the preset length time window; the rotation speed is calculated as follows:

[0090]

[0091] Wherein, n is the rotation speed of the bearing cage, m is the number of pulse widths, M is the number of trapezoidal stripe grooves, and t is the preset length time window.

[0092] In an exemplary embodiment, the motion posture includes radial displacement; the embodiment includes: determining the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing retainer at adjacent moments based on the pulse signal; the pulse signal is obtained by converting the distance signal after the displacement sensor collects the distance signal of the bearing retainer; determining the radial displacement of the bearing retainer based on the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing retainer at adjacent moments.

[0093] Among them, if the coupling effect of static radial offset and radial amplitude is not considered, the change in sensor output is the magnitude of the radial vibration of the cage; preferably, the distance signal after filtering and denoising is de-meaned, and after the static component is eliminated, the mean change in the measured data can better reflect the true radial displacement; by integrating the processing results of multiple processing modules, the motion trajectory of the axis in polar coordinates can be obtained.

[0094] In an exemplary embodiment, a trapezoidal stripe groove is machined on the end face of the bearing cage, and a plurality of laser distance measuring sensors (displacement sensors, the collected distance signal is converted into a voltage signal output) are arranged on the bearing seat along the outer ring of the bearing. Each laser distance measuring sensor is a sampling unit, and each sampling unit samples at a fixed sampling frequency and uploads the collected data to the processing module. After receiving the raw data, the processing module processes the raw data and extracts the complete pulse signal; then, based on the obtained complete pulse signal, the axial displacement of the cage is calculated by using the relative time interval between the two parallel concave stripes before and after the axial offset, and the radial displacement of the center of the cage is calculated by using the change of the radial distance data center. After integrating the measurement results of multiple sensors, the polar coordinate system position curve of the center of the cage is obtained; the actual rotation speed of the cage is obtained by monitoring the number of pulse peaks output by the measuring unit per unit time.

[0095] When the bearing retainer motion posture monitoring method provided by the present invention is applied, it is not necessary to Figure 1 The steps are executed in the order shown. The specific execution order of the steps can be determined according to needs, and the present invention does not limit this.

[0096] The above is a method for monitoring the motion posture of a bearing cage provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding device for monitoring the motion posture of a bearing cage, such as Fig.11 shown.

[0097] Fig.11 A schematic diagram of a bearing retainer motion posture monitoring device provided by the present invention, the device 1100 comprises:

[0098] The receiving module 1101 is used to obtain the pulse signal generated by the bearing cage when it moves, which is collected by the sensor; there are multiple trapezoidal stripe grooves on the end surface of the bearing cage;

[0099] The interception module 1102 is used to intercept the pulse signal through a preset length time window to obtain a pulse interception signal including multiple pulses;

[0100] The first determination module 1103 is used to obtain the first-order differential of the intercepted pulse signal, obtain the first-order differential signal, and calculate the segmentation threshold of the first-order differential signal by the maximum inter-class variance method; determine the pulse edge of the pulse intercepted signal by the segmentation threshold, and determine multiple pulse widths of the pulse intercepted signal according to the pulse edge; the pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor;

[0101] The second determination module 1104 is used to determine the motion posture of the bearing retainer through multiple pulse widths.

[0102] The specific definition of the motion posture monitoring device of the bearing retainer can be found in the definition of the motion posture monitoring method of the bearing retainer mentioned above, which will not be repeated here. Each module in the above-mentioned motion posture monitoring device of the bearing retainer can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0103] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 2 A motion posture monitoring method for a bearing retainer is provided.

[0104] The present invention also provides Fig.12 The structural diagram of the computer device shown in FIG. Fig.12 As shown in the figure, at the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 2 A motion posture monitoring method for a bearing retainer is provided.

[0105] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0106] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present invention.

Claims

1. A method for monitoring the motion posture of a bearing retainer, characterized in that: The method comprises: Acquire a pulse signal generated by a bearing retainer during movement, which is collected by a sensor; a plurality of trapezoidal stripe grooves are present on the end surface of the bearing retainer; Intercepting the pulse signal through a time window of a preset length to obtain a pulse interception signal including a plurality of pulses; Obtaining the first-order differential of the intercepted pulse signal to obtain a first-order differential signal, and calculating a segmentation threshold of the first-order differential signal by using a maximum inter-class variance method; Determine the pulse edge of the pulse interception signal by the segmentation threshold, and determine multiple pulse widths of the pulse interception signal according to the pulse edge; the pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor; The movement posture of the bearing retainer is determined by the multiple pulse widths.

2. The method according to claim 1, characterized in that The step of determining the pulse edge of the pulse interception signal by using the segmentation threshold comprises: Extracting extreme value points greater than the segmentation threshold in the first-order differential signal to obtain the initial pulse edge of the pulse interception signal; If the adjacent peak points in the initial pulse edge are all maximum values ​​or minimum values, the extreme value points with smaller absolute values ​​among the adjacent peak points are removed to obtain the pulse edge of the pulse interception signal.

3. The method according to claim 1, characterized in that Determining a plurality of pulse widths of the pulse interception signal according to the pulse edge comprises: Calculate the zero-crossing point of the second-order differential signal of the pulse interception signal at the pulse edge according to spline curve fitting, and determine the time when the signal edge of the pulse interception signal occurs; The plurality of pulse widths are determined according to a time difference between signal edge occurrence moments corresponding to a rising edge and a falling edge in the pulse interception signal.

4. The method according to claim 1, characterized in that: The motion posture includes axial displacement; the determining the motion posture of the bearing retainer by the plurality of pulse widths includes: The axial displacement of the bearing retainer is determined according to the pulse width at adjacent moments, the linear velocity at adjacent moments and the bottom angle of the trapezoidal stripe groove; the calculation formula of the axial displacement is: Among them, Δ z is the axial displacement of the bearing cage, v0 and v1 are the linear velocities at two adjacent moments, t0 and t1 are the pulse widths at two adjacent moments, and θ is the bottom angle of the trapezoidal stripe groove.

5. The method according to claim 1, characterized in that The motion posture includes a rotation speed; and determining the motion posture of the bearing retainer by using the plurality of pulse widths includes: The rotation speed of the bearing holder is determined according to the number of pulse widths, the number of trapezoidal stripe grooves on the bearing holder and the preset length time window; the rotation speed is calculated as follows: Wherein, n is the rotation speed of the bearing cage, m is the number of pulse widths, M is the number of trapezoidal stripe grooves, and t is the preset length time window.

6. The method according to claim 1, characterized in that The motion posture includes radial displacement; the method further includes: Determine the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing retainer at adjacent moments according to the pulse signal; the pulse signal is obtained by converting the distance signal of the bearing retainer after the displacement sensor collects the distance signal; The radial displacement of the bearing retainer is determined according to the distance from the displacement sensor to the bottom of the trapezoidal stripe groove of the bearing retainer at the adjacent moments.

7. A bearing retainer motion posture monitoring device, characterized in that: include: A receiving module is used to obtain the pulse signal generated by the bearing retainer during movement, which is collected by the sensor; There are a plurality of trapezoidal stripe grooves on the end surface of the bearing retainer; An interception module, used for intercepting the pulse signal through a time window of a preset length to obtain a pulse interception signal including a plurality of pulses; A first determination module is used to obtain the first-order differential of the intercepted pulse signal to obtain the first-order differential signal, and calculate the segmentation threshold of the first-order differential signal by the maximum inter-class variance method; determine the pulse edge of the pulse intercepted signal by the segmentation threshold, and determine multiple pulse widths of the pulse intercepted signal according to the pulse edge; The pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor; The second determination module is used to determine the movement posture of the bearing retainer according to the multiple pulse widths.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

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