A method, apparatus, medium and device for monitoring the motion posture of a bearing retainer

Abstract

The application discloses a bearing retainer motion posture monitoring method and device, medium and equipment, and relates to the technical field of vibration measurement. A pulse signal generated by a bearing retainer when the bearing retainer is in motion is acquired by a sensor; a plurality of trapezoidal stripe grooves exist on an end face of the bearing retainer; the pulse signal is intercepted by a preset length time window to obtain a pulse intercepted signal including a plurality of pulses; a first-order differential of the pulse intercepted signal is acquired to obtain a first-order differential signal, and a segmentation threshold of the first-order differential signal is calculated by a maximum interclass variance method; pulse edges of the pulse intercepted signal are determined by the segmentation threshold, and a plurality of pulse widths of the pulse intercepted signal are determined according to the pulse edges; the pulse widths represent time required for the trapezoidal stripe grooves to pass through the sensor; and a motion posture of the bearing retainer is determined by the plurality of pulse widths. The method can accurately measure the motion posture of the bearing retainer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration measurement, in particular to a bearing retainer motion posture monitoring method, device, medium and equipment. BACKGROUND

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

[0003] Among them, since the bearing axial position is usually the working end (such as the spindle axial position is the tool and the workpiece) or the installation positioning end, the installation of the sensor is greatly limited under the premise that the axial size of the bearing cannot be greatly changed, therefore, the motion posture of the bearing retainer is usually measured from the outside; for example, taking the measurement of the axial displacement of the bearing retainer as an example, it can be realized by three ways, which are edge type, variable area type and variable distance type; however, these several ways all need to be fixedly connected with the measurement ring, which greatly changes the structure of the retainer itself, so that the measurement result cannot truly reflect the actual situation, and the linearity of the magnetic field change caused by the edge, area and distance conversion is poor, and the measurement accuracy is difficult to guarantee.

[0004] Therefore, there is a lack of a method for accurately measuring the motion posture of the bearing retainer in the prior art. SUMMARY

[0005] Therefore, it is necessary to provide a bearing retainer motion posture monitoring method, device, medium and equipment, which can accurately measure the motion posture of the bearing retainer.

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

[0007] The present application provides a bearing retainer motion posture monitoring method, comprising:

[0008] Obtaining the pulse signal generated by the bearing retainer during movement collected by the sensor; there are multiple trapezoidal stripe grooves on the end face of the bearing retainer;

[0009] The pulse signal is intercepted by a preset length time window to obtain a pulse intercepted signal including multiple pulses;

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

[0011] The pulse edges of the pulse interception signal are determined by a segmentation threshold, and a plurality of pulse widths of the pulse interception signal are determined according to the pulse edges; the pulse width represents a time required for the trapezoidal stripe groove to pass through the sensor;

[0012] The motion posture of the bearing retainer is determined by the plurality of pulse widths.

[0013] Preferably, the pulse edges of the pulse interception signal are determined by the segmentation threshold, and the method comprises:

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

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

[0016] Preferably, the plurality of pulse widths of the pulse interception signal are determined according to the pulse edges, and the method comprises:

[0017] The zero-crossing points of the second-order differential signal of the pulse interception signal at the pulse edges are determined according to a spline curve fitting calculation, to determine signal edge occurrence times of the pulse interception signal;

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

[0019] Preferably, the motion posture comprises an axial displacement; the motion posture of the bearing retainer is determined by the plurality of pulse widths, and the method comprises:

[0020] The axial displacement of the bearing retainer is determined according to the pulse widths of adjacent time points, the linear velocities of the adjacent time points, and the bottom angle of the trapezoidal stripe groove; the calculation formula of the axial displacement is:

[0021]

[0022] wherein, Δ z is the axial displacement of the bearing retainer, v0 and v1 are the linear velocities of two adjacent time points respectively, t0 and t1 are the pulse widths of two adjacent time points respectively, and θ is the bottom angle of the trapezoidal stripe groove.

[0023] Preferably, the motion posture comprises a rotational speed; the motion posture of the bearing retainer is determined by the plurality of pulse widths, and the method comprises:

[0024] The rotational speed of the bearing retainer is determined according to the number of the pulse widths, the number of the trapezoidal stripe grooves on the bearing retainer, and a preset length window; the calculation method of the rotational speed is:

[0025]

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

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

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

[0029] According to the distance from the displacement sensor to the bottom of the trapezoidal stripe slot of the bearing cage at the adjacent time, the radial displacement of the bearing cage is determined.

[0030] The application provides a motion posture monitoring device of a bearing cage, comprising:

[0031] The receiving module is configured to acquire a pulse signal generated by the bearing cage during movement and collected by a sensor; the end surface of the bearing cage has a plurality of trapezoidal stripe slots;

[0032] The intercepting module is configured to intercept the pulse signal by a preset length time window to obtain a pulse intercepted signal comprising a plurality of pulses;

[0033] The first determining module is configured to acquire a first-order differential of the intercepted pulse signal to obtain a first-order differential signal, and calculate a segmentation threshold of the first-order differential signal by the maximum inter-class variance method; determine the pulse edges of the pulse intercepted signal by the segmentation threshold, and determine a plurality of pulse widths of the pulse intercepted signal according to the pulse edges; the pulse width represents the time required for the trapezoidal stripe slot to pass through the sensor;

[0034] The second determining module is configured to determine the motion posture of the bearing cage by the plurality of pulse widths.

[0035] The application provides a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to realize the motion posture monitoring method of the bearing cage.

[0036] The application provides a computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to realize the motion posture monitoring method of the bearing cage.

[0037] The above at least one technical scheme adopted by the application can achieve the following beneficial effects:

[0038] In the present application, a plurality of trapezoidal stripe grooves are arranged on the end face of the bearing retainer, then the pulse signal generated by the bearing retainer in motion, i.e. the motion signal of the bearing retainer, is collected, and the pulse width in the pulse signal can represent the time required for the trapezoidal stripe groove 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 by a preset length window to obtain a pulse intercepted signal, and a segmentation threshold is calculated, and the pulse edges of the pulse intercepted signal are determined by the segmentation threshold; then the pulse width of the pulse intercepted signal is determined according to the pulse edges, the accuracy of the determined pulse width is ensured, and the measurement accuracy of the motion posture of the bearing retainer is improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0040] Figure 1 A structural schematic diagram of the structure for measuring the axial displacement of the bearing retainer by radially arranging the sensor is provided for the present application;

[0041] Figure 2 A flowchart of a bearing retainer motion posture monitoring method is provided for the present application;

[0042] Figure 3 A structural schematic diagram of a bearing retainer motion posture measurement scheme is provided for the present application;

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

[0044] Figure 5 A schematic diagram of the first-order differential of the intercepted pulse signal and the local extreme points thereof is provided for the present application;

[0045] Figure 6 A curve diagram of the first-order differential pulse edge extreme value screening result of the intercepted pulse signal is provided for the present application;

[0046] Figure 7 A schematic diagram of the fitting solution of the zero-crossing points of the second-order differential at the pulse edges of the pulse intercepted signal is provided for the present application;

[0047] Figure 8 A time variation diagram of the pulse edges of the pulse intercepted signal is provided for the present application;

[0048] Figure 9 An axial displacement measurement schematic diagram is provided for the present application;

[0049] Figure 10 A before-and-after pulse width contrast chart for axial displacement is provided for the present application;

[0050] Figure 11 A schematic diagram of a bearing cage motion posture monitoring device is provided for the present application;

[0051] Figure 12 A schematic diagram of a computer device for implementing a bearing cage motion posture monitoring method is provided for the present application. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

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

[0054] The principle of the edge type measurement method is shown in (a) of FIG. 1, an inductance or eddy current sensor is arranged at the step position of the measurement ring, when the cage occurs axial displacement, the magnetic field measured by the sensor changes, which can reflect the size of the axial displacement; the principle of the variable area type measurement method is shown in (b) of FIG. 1, a measurement ring composed of two sub-rings of different materials is fixed on the cage, when the cage produces axial displacement, the change of the area of the two materials facing the sensor probe causes the change of the magnetic permeability, thereby reflecting the size of the axial displacement; the principle of the variable distance type measurement method is shown in (c) of FIG. 1, the side surface of the measurement ring is designed as a tapered surface, when the cage occurs axial displacement, the distance between the side surface of the measurement ring and the sensor changes, causing the change of the induced magnetic field, thereby obtaining the size of the axial displacement. Figure 1 Figure 1 Figure 1

[0055] In summary, the existing radial measurement scheme of the axial vibration of the cage still has the following deficiencies: (1) a measurement ring needs to be fixed, which greatly changes the structure of the cage itself, so that the measurement result cannot truly reflect the actual situation; (2) the linearity of the magnetic field change caused by the edge, area, and distance conversion corresponding to 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 application provides a bearing retainer motion posture monitoring method, without installing other parts, without damaging the bearing retainer structure, without affecting the normal work of the bearing, based on the extraction method of the adaptive pulse signal of the differential algorithm and the OSTU algorithm, the accurate measurement of the axial vibration, the radial displacement and the rotating speed of the bearing retainer can be realized, and the measurement of multiple physical quantities is realized through a single sensor. Specifically, the trapezoidal stripe groove is processed on the end face of the bearing retainer by using the laser engraving technology or the grating pressing technology, and a plurality of displacement sensor probes are arranged in the bearing seat. Based on the change of the pulse signal width and amplitude measured by the displacement sensor, the radial displacement and the 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 rotating speed of the retainer is obtained.

[0057] The technical solutions provided by the embodiments of the application are described in detail below with reference to the drawings.

[0058] Figure 2 It is a flowchart of the bearing retainer motion posture monitoring method, and specifically includes the following steps:

[0059] S201, the pulse signal generated by the bearing retainer during movement is acquired by the sensor; a plurality of trapezoidal stripe grooves exist on the end face of the bearing retainer.

[0060] Firstly, before monitoring the motion posture of the bearing retainer, the trapezoidal stripe groove is processed on the end face of the bearing retainer by using the laser engraving technology or the grating pressing technology, and a plurality of displacement sensors are arranged on the bearing seat along the bearing outer ring, as shown in Figure 3 Figure 3 Only one displacement sensor is shown.

[0061] Each displacement sensor is a sampling unit, and each sampling unit samples the motion signal of the bearing retainer at a fixed sampling frequency, for example, the sampling time is 10 seconds; after sampling, the acquired motion signal of the bearing retainer is uploaded to the processing module, the motion signal of the bearing retainer is processed and analyzed by the processing module, and the motion posture of the bearing retainer is determined. The motion signal acquired by the sensor is a pulse signal, as shown in Figure 4 Figure 4 It is a typical output pulse signal curve of a displacement sensor, and it should be noted that the displacement sensor is a laser ranging sensor, and the distance between the sensor probe and the measured surface is actually acquired, and the distance signal is converted into a voltage signal (pulse signal) by the displacement sensor after sampling.

[0062] It should be noted that the processing module can be a server arranged in a business platform, or a device such as a desktop computer, a notebook computer or a control unit which can execute the scheme of the application.

[0063] ​​S202, the pulse signal is intercepted by a preset length time window to obtain a pulse intercepted signal including multiple pulses.

[0064] After receiving the pulse signal sent by the displacement sensor, the processing module can first perform filtering and noise reduction processing on the pulse signal to filter out environmental noise and static offset, and then the processing module performs time window interception on the filtered and noise reduced pulse signal to obtain a pulse intercepted signal, that is, the intercepted pulse signal described below is the pulse signal after filtering and noise reduction. For the sake of convenience, the present application will not be described again.

[0065] The preset length time window can be determined according to the time required for one rotation of the bearing retainer, for example, the preset length time window is less than the time required for one rotation of the bearing retainer, and the difference between the time required for one rotation of the bearing retainer and the time required for one rotation of the bearing retainer is within a preset range, so that the length of the pulse intercepted signal is not too long or too short, so that the pulse intercepted signal can include multiple pulses.

[0066] Therefore, the pulse signal is intercepted by a preset length time window to obtain a pulse intercepted signal including multiple pulses; for example, the pulse signal is 10s, and the preset length time window is 4s, then 4s of the signal is intercepted from the pulse signal to obtain the pulse intercepted signal. The interception method can be random interception.

[0067] S203, the first derivative of the intercepted pulse signal is obtained to obtain a first derivative signal, and the maximum inter-class variance method is used to calculate the segmentation threshold of the first derivative signal.

[0068] Specifically, the first derivative of the intercepted pulse signal is calculated to obtain the value range of the first derivative signal, and the first derivative and its local extreme point diagram are as shown in Figure 5 More preferably, in order to fully capture the pulse fluctuation, the pulse intercepted signal is fitted by a piecewise polynomial, and the first derivative is calculated point by point using the fitted signal to obtain the first derivative signal. Calculating the first derivative can eliminate high-frequency vibration interference.

[0069] Then the maximum inter-class variance method (Otsu's Method, OSTU) is used to solve the best segmentation threshold of the signal segmentation, so that the first derivative signals inside and outside the threshold interval have the largest inter-class variance, and then the pulse edges of the first derivative signal are extracted according to the obtained segmentation threshold to obtain the pulse edges of the pulse intercepted signal.

[0070] Specifically, a histogram of the first-order differential signal is calculated: first, the histogram of the first-order differential signal is calculated, which will give the distribution of the signal amplitude. Then the global mean is calculated: the mean of the entire first-order differential signal is calculated, which will be used for subsequent inter-class variance calculation. Traverse the possible threshold values: for each possible threshold value, the first-order differential signal is divided into two parts: one part is the signal point less than or equal to the threshold value, and the other part is the signal point greater than the threshold value. Calculate the inter-class variance: for each threshold value, calculate the inter-class variance of the two parts of the signal. The formula for calculating the inter-class variance is: where w0 and w1 are the proportions of the two parts of the signal point, u0 and u1 are the means of the two parts of the signal, and u is the global mean.

[0071] Find the threshold value corresponding to the maximum inter-class variance: after traversing all possible threshold values, find the threshold value that maximizes the inter-class variance, which is the threshold value to be found.

[0072] S204, determine the pulse edges of the pulse-truncated signal through the segmentation threshold, and determine the plurality of pulse widths of the pulse-truncated signal according to the pulse edges; the pulse width represents the time required for the trapezoidal stripe groove to pass through the sensor.

[0073] In an exemplary embodiment, determining the pulse edges of the pulse-truncated signal through the segmentation threshold includes: extracting the extreme points in the first-order differential signal that are greater than the segmentation threshold to obtain the initial pulse edges of the pulse-truncated signal; if adjacent peak points in the initial pulse edges are both maximum or minimum, then the extreme point with the smaller absolute value of the adjacent peak points is removed to obtain the pulse edges of the pulse-truncated signal.

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

[0075] Optionally, determining the plurality of pulse widths of the pulse-truncated signal according to the pulse edges includes: first, determining the signal edge occurrence time of the pulse-truncated signal according to the pulse edges, and then determining the pulse width according to the time difference between the signal edge occurrence times corresponding to the rising edge and the falling edge in the pulse-truncated signal.

[0076] Specifically, the zero-crossing points of the second-order differential signal of the pulse-truncated signal near the pulse edges are calculated by means of spline curve fitting to obtain the occurrence time of the pulse signal edges, as shown in Figure 7The pulse width can be obtained by calculating the time difference between the rising edge and the falling edge of the last pulse, as shown in the following formula: Figure 8

[0077] The pulse width satisfies the following formula:

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

[0079] where t' i and t i are the signal edge occurrence times corresponding to the i-th rising edge and falling edge of the pulse interception signal, respectively, t d (i) is the i-th pulse width.

[0080] S205, determining the motion posture of the bearing retainer through the plurality of pulse widths.

[0081] After obtaining the pulse widths, the pulse widths can be first subjected to mean value filtering to reduce the fluctuations of the calculation results to ensure the effectiveness of the calculation results. Then, the motion posture of the bearing retainer is calculated through the pulse widths subjected to mean value filtering. It should be noted that the determination of the motion posture of the bearing retainer through the pulse widths described in the following embodiments is essentially the determination of the motion posture of the bearing retainer through the pulse widths subjected to mean value filtering.

[0082] One pulse width can represent the time required for one trapezoidal stripe groove to pass through the sensor, i.e. the time required for the sensor to collect one trapezoidal stripe groove. Therefore, the motion posture of the bearing retainer can be determined according to the plurality of pulse widths.

[0083] Optionally, the motion posture includes an axial displacement. The determination of the motion posture of the bearing retainer through the plurality of pulse widths includes: determining the axial displacement of the bearing retainer according to the pulse widths of adjacent time points, and the linear velocity and the bottom angle of the trapezoidal stripe groove of the adjacent time points.

[0084] Specifically, the pulse width variation is converted into an axial displacement amount through a known geometric relationship. As shown in the following formula: Figure 9 The stripe width of the trapezoidal stripe groove of the retainer end face at different axial positions is different, and the measured pulse width will change. Multiplying the pulse width variation by the linear velocity can convert it into a stripe width variation. When the axial displacement occurs, the concave stripe width of the trapezoidal stripe groove at the measuring point will change from l0 to l1. Through geometric calculation, the axial displacement Δz of the retainer can be obtained as follows:

[0085]

[0086] where Δ z is the axial displacement of the bearing retainer, v0 and v​1 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 extracting the pulse signal, 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 Figure 10 As shown, Figure 10 This is a comparison diagram 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 rotational speed. The rotational frequency of the cage is obtained by the pulse repetition frequency of the obtained pulse signal, and then the rotational speed of the cage is obtained. Specifically, the motion posture of the bearing cage is determined by multiple pulse widths, including: determining the rotational 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 rotational 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 slots, 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 noise removal is de-meaned, and after eliminating the static component, the mean change of 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 one exemplary embodiment, a trapezoidal stripe groove is processed on the bearing retainer end face, a plurality of laser ranging sensors (displacement sensors, the collected distance signal is converted into a voltage signal output) are arranged on the bearing seat along the bearing outer ring, each laser ranging sensor is a sampling unit, each sampling unit samples at a fixed sampling frequency, and the collected data is uploaded to a processing module. After the processing module receives the raw data, the raw data is processed to extract the complete pulse signal; then, based on the obtained complete pulse signal, the relative time interval between the two parallel concave stripes before and after the axial offset is used to calculate the axial displacement of the retainer, the change of the radial distance data center is used to calculate the radial displacement of the retainer center, and the polar coordinate position curve of the retainer center is obtained after synthesizing the measurement results of multiple sensors; the actual rotating speed of the retainer is obtained by monitoring the number of pulse peak values output by the measurement unit per unit time.

[0095] In the application, the motion posture of the bearing retainer can be monitored without Figure 1 The execution order of each step shown in the above method can be determined according to actual needs, and the application does not limit the execution order of each step.

[0096] The above is the bearing retainer motion posture monitoring method provided by one or more embodiments of the application. Based on the same idea, the application also provides a corresponding bearing retainer motion posture monitoring device, as shown in Figure 11 .

[0097] Figure 11 A bearing retainer motion posture monitoring device provided by the application is shown in the figure. The device 1100 includes:

[0098] The receiving module 1101 is configured to acquire the pulse signal generated by the sensor when the bearing retainer is in motion; the bearing retainer end face has a plurality of trapezoidal stripe grooves.

[0099] The intercepting module 1102 is configured to intercept the pulse signal by a preset length time window to obtain a pulse intercepted signal including a plurality of pulses.

[0100] The first determining module 1103 is configured to acquire the first derivative of the intercepted pulse signal to obtain a first derivative signal, and calculate the segmentation threshold of the first derivative signal by the maximum inter-class variance method; determine the pulse edge of the pulse intercepted signal by the segmentation threshold, and determine the plurality of pulse widths of the pulse intercepted signal according to the pulse edge; the pulse width represents the time required for the trapezoidal stripe groove to pass through the sensor.

[0101] The second determining module 1104 is configured to determine the motion posture of the bearing retainer by the plurality of pulse widths.

[0102] The specific definition of the bearing cage motion posture monitoring device can refer to the definition of the bearing cage motion posture monitoring method in the above, which will not be repeated here. Each module in the bearing cage motion posture monitoring device described above can be realized by software, hardware and their combination in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to call and execute the operation corresponding to each module by the processor.

[0103] The application further provides a computer readable storage medium, which stores a computer program, and the computer program can be used to execute the bearing cage motion posture monitoring method. Figure 2 The application further provides a bearing cage motion posture monitoring device.

[0104] The application further provides a computer readable storage medium, which stores a computer program, and the computer program can be used to execute the bearing cage motion posture monitoring method. Figure 12 The structure diagram of the computer device is shown in the figure, which includes a processor, an internal bus, a network interface, a memory and a non-volatile memory. Figure 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 of course can also include other hardware required by the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to realize the bearing cage motion posture monitoring method. Figure 2 The application further provides a bearing cage motion posture monitoring device.

[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 a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. In the embodiments of the present application, any reference to the memory, storage, database or other medium can include at least one of the non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory. The volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, the 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 can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered to be within the scope of the present application.

Claims

1. A method of monitoring the motion of a bearing cage, characterized in that The method comprises: acquiring a pulse signal generated by a bearing retainer when moving, which is collected by a displacement sensor; a plurality of trapezoidal stripe grooves exist on an end surface of the bearing retainer; the pulse signal is a distance signal of the bearing retainer collected by the displacement sensor and is obtained by conversion of the distance signal; the pulse signal is intercepted by a preset length time window to obtain a pulse intercepted signal comprising a plurality of pulses; a first-order differential of the pulse intercepted signal is acquired to obtain a first-order differential signal, and a segmentation threshold of the first-order differential signal is calculated by a maximum inter-class variance method; pulse edges of the pulse intercepted signal are determined by the segmentation threshold, and a plurality of pulse widths of the pulse intercepted signal are determined according to the pulse edges; the pulse width represents a time required for the trapezoidal stripe groove to pass through the displacement sensor; an axial displacement of the bearing retainer is determined according to pulse widths of adjacent time instants, a linear velocity of the adjacent time instants and a bottom angle of the trapezoidal stripe groove; a calculation formula of the axial displacement is: wherein, is the axial displacement of the bearing cage, and are the linear velocities at two adjacent time instants, respectively, and are the pulse widths at two adjacent time instants, respectively, is the bottom angle of the trapezoidal stripe groove; a rotating speed of the bearing retainer is determined according to a number of the pulse widths, a number of the trapezoidal stripe grooves on the bearing retainer and the preset length time window; a calculation manner of the rotating speed is: Wherein, is the rotational speed of the bearing cage, is the number of pulse widths, is the number of trapezoidal stripe grooves, is the preset length window; a distance from the displacement sensor to a bottom of the trapezoidal stripe groove of the bearing retainer at adjacent time instants is determined according to the pulse signal; a 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 time instants.

2. The method of claim 1, wherein, The determination of the pulse edges of the pulse intercepted signal by the segmentation threshold comprises: extreme points greater than the segmentation threshold in the first-order differential signal are extracted to obtain initial pulse edges of the pulse intercepted signal; if adjacent peak points in the initial pulse edges are all maximum values or minimum values, the extreme point with a smaller absolute value among the adjacent peak points is removed to obtain the pulse edges of the pulse intercepted signal.

3. The method of claim 1, wherein, The determination of the plurality of pulse widths of the pulse intercepted signal according to the pulse edges comprises: zero-crossing points of a second-order differential signal of the pulse intercepted signal at the pulse edges are determined according to spline curve fitting calculation to determine signal edge occurrence time instants of the pulse intercepted signal; the plurality of pulse widths are determined according to time differences between the signal edge occurrence time instants corresponding to rising edges and falling edges in the pulse intercepted signal.

4. A device for monitoring the kinematic behaviour of a bearing cage, which device is used to implement the method according to any one of claims 1 to 3, characterised in that It comprises: a receiving module configured to acquire a pulse signal generated by a bearing retainer when moving, which is collected by a sensor; a plurality of trapezoidal stripe grooves exist on an end surface of the bearing retainer; a cutting module configured to cut the pulse signal by a preset length time window to obtain a pulse intercepted signal comprising a plurality of pulses; a first determining module configured to acquire a first-order differential of the pulse intercepted signal to obtain a first-order differential signal, and calculate a segmentation threshold of the first-order differential signal by a maximum inter-class variance method; pulse edges of the pulse intercepted signal are determined by the segmentation threshold, and a plurality of pulse widths of the pulse intercepted signal are determined according to the pulse edges; the pulse width represents a time required for the trapezoidal stripe groove to pass through the sensor; a second determining module configured to determine a moving posture of the bearing retainer by the plurality of pulse widths.

5. A computer readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by a processor to implement the method in any one of claims 1-3.

6. A computer device, comprising: A computer program product, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method in any one of claims 1-3 when executing the program.

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