Method, device and system for determining radial displacement of motor shaft

Abstract

The embodiment of the invention discloses a method, device and system for determining the radial displacement of a motor shaft, a connecting rod is fixedly installed on the motor shaft of a motor, the gravity center of the connecting rod is located on the motor shaft, and the method comprises the following steps: obtaining the radial displacement of a target object on the connecting rod in the process that the motor drives the connecting rod to rotate to drive the target object to rotate; a rotation plane of the target object; acquiring the current position of the target object after the load object is placed on the motor shaft; and determining the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane. According to the invention, the radial displacement of the motor shaft can be accurately determined, and the motor position positioning precision based on the motor encoder can be improved according to the radial displacement of the motor shaft.

Description

Technical Field

[0001] The present disclosure relates to the technical field of equipment detection, and in particular to a method, device and system for determining radial displacement of a motor shaft. Background Art

[0002] In some scenarios where a motor is used, it is necessary to accurately determine the position of the motor at different times in order to effectively control the motor. Related technologies use a motor encoder to read the motor position parameters, and then determine the motor position based on the motor position parameters.

[0003] When installing the motor encoder, in order to obtain high-precision motor encoder position, it is usually necessary to calibrate the motor encoder value. When calibrating the motor encoder value, it will be affected by the rigidity of the motor shaft. The radial movement of the motor shaft will cause the motor encoder reading to change, thus affecting the overall accuracy of the motor.

[0004] How to accurately determine the radial displacement of the motor shaft in order to improve the motor position positioning accuracy based on the motor encoder is a problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present disclosure provide a method, device and system for determining the radial displacement of a motor shaft to solve the above-mentioned problem.

[0006] According to a first aspect of an embodiment of the present disclosure, a method for determining radial displacement of a motor shaft is provided, wherein a connecting rod is fixedly mounted on the motor shaft of the motor, and the center of gravity of the connecting rod is located on the motor shaft. The method comprises:

[0007] Acquire a rotation plane of the target object in a process in which the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate;

[0008] Acquire the current position of the target object after the load object is placed on the motor shaft;

[0009] The radial displacement of the motor shaft is determined based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between a first plane and a second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

[0010] In some embodiments of the present disclosure, in the process where the motor drives the connecting rod to rotate so as to drive the target object to rotate, obtaining the rotation plane of the target object on the connecting rod includes:

[0011] In the process where the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, collecting multiple spatial positions of the target object;

[0012] Plane fitting is performed on the multiple spatial positions to obtain a rotation plane of the target object.

[0013] In some embodiments of the present disclosure, the target object is a target ball;

[0014] In the process where the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, collecting multiple spatial positions of the target object includes:

[0015] In the process of the motor driving the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, the target ball is scanned by a laser tracker;

[0016] Based on the scanning results, multiple spatial positions of the target sphere are determined.

[0017] In some embodiments of the present disclosure, determining the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane includes:

[0018] Based on the rotation plane of the target object and the current position of the target object, determining a vertical distance between the current position of the target object and the rotation plane;

[0019] Determining the inclination angle of the motor shaft based on a vertical distance between the current position of the target object and the rotation plane, and a vertical distance between the target object and the motor shaft;

[0020] The radial displacement of the motor shaft is determined based on the distance between the first plane and the second plane and the tilt angle of the motor shaft.

[0021] In some embodiments of the present disclosure, before the motor drives the connecting rod to rotate to drive the target object to rotate, the method further includes:

[0022] The motor is subjected to dynamic balancing.

[0023] In some embodiments of the present disclosure, the connecting rod is a cross rod, and the center of the cross rod is located on the motor shaft;

[0024] The step of performing dynamic balancing on the motor comprises:

[0025] The weight of at least one weight component at a designated position in the cross bar is adjusted to put the motor in a dynamic balance state.

[0026] According to a second aspect of the embodiments of the present disclosure, a device for determining radial displacement of a motor shaft is provided, wherein a connecting rod is fixedly mounted on the motor shaft of the motor, and the center of gravity of the connecting rod is located on the motor shaft, and the device comprises:

[0027] A first acquisition module is used to acquire a rotation plane of the target object when the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate;

[0028] A second acquisition module, used for acquiring the current position of the target object after the load object is placed on the motor shaft;

[0029] A radial displacement determination module is used to determine the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between a first plane and a second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

[0030] In some embodiments of the present disclosure, the first acquisition module is used to collect multiple spatial positions of the target object when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate; the first acquisition module is also used to perform plane fitting on the multiple spatial positions to obtain the rotation plane of the target object.

[0031] In some embodiments of the present disclosure, the target object is a target ball, and the first acquisition module is used to scan the target ball through a laser tracker when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate, and determine multiple spatial positions of the target ball based on the scanning results.

[0032] In some embodiments of the present disclosure, the radial displacement determination module is used to determine the vertical distance between the current position of the target object and the rotation plane based on the rotation plane of the target object and the current position of the target object; the radial displacement determination module is also used to determine the inclination angle of the motor shaft based on the vertical distance between the current position of the target object and the rotation plane, and the vertical distance between the target object and the motor shaft; the radial displacement determination module is also used to determine the radial displacement of the motor shaft based on the distance between the first plane and the second plane, and the inclination angle of the motor shaft.

[0033] In some embodiments of the present disclosure, the device further comprises:

[0034] The dynamic balancing module is used to perform dynamic balancing on the motor before the motor drives the connecting rod to rotate to drive the target object to rotate.

[0035] In some embodiments of the present disclosure, the connecting rod is a cross rod, the center of which is located on the motor shaft; the dynamic balancing module is used to adjust the weight of a counterweight component at at least one specified position in the cross rod to put the motor in a dynamic balance state.

[0036] According to a third aspect of the embodiments of the present disclosure, a system for determining radial displacement of a motor shaft is provided, comprising:

[0037] Bracket for fixing the motor position;

[0038] A connecting rod fixedly mounted on the motor shaft of the motor;

[0039] A controller is used to control the motor and determine the radial displacement of the motor shaft by the method described in the first aspect above.

[0040] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, including:

[0041] The device for determining the radial displacement of the motor shaft as described in the second aspect above;

[0042] A memory for storing a computer program product;

[0043] The processor is used to execute the computer program product stored in the memory, and when the computer program product is executed, the device for determining the radial displacement of the motor shaft is controlled to implement the method described in the first aspect above.

[0044] According to a fifth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0045] The method, device and system for determining the radial displacement of the motor shaft of the disclosed embodiment, since the center of gravity of the connecting rod is located on the motor shaft, the process of the motor driving the connecting rod to move can be regarded as the movement of the motor shaft under no-load conditions, and then the rotation plane of the target object in the process of the motor driving the connecting rod to rotate to drive the target object on the connecting rod to rotate can be regarded as the rotation plane of the motor shaft under no-load conditions. Placing a load object on the motor shaft will cause the motor shaft to be radially displaced, resulting in the current position of the target object after the load object is placed on the motor shaft being offset relative to the position when the load object is not placed on the motor shaft, and the vertical distance between the target object and the motor shaft, and the distance between the first plane (i.e., the plane where the encoder grating of the motor is located) and the second plane (i.e., the plane where the bearing of the motor shaft is located) affect the calculation of the radial displacement of the motor shaft. The disclosed embodiment can accurately determine the radial displacement of the motor shaft according to the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane, which helps to improve the motor position positioning accuracy based on the motor encoder according to the radial displacement of the motor shaft.

[0046] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0049] Figure 1 A schematic diagram of a system structure applicable to a method for determining a radial displacement of a motor shaft in an example of the present disclosure;

[0050] Figure 2 Schematic diagram of a flow chart of a method for determining radial displacement of a motor shaft in one embodiment of the present disclosure;

[0051] Figure 3 A partial cross-sectional view of a motor shaft after a load is placed on the motor shaft in an example of the present disclosure;

[0052] Figure 4 is a schematic flow chart of step S1 in some embodiments;

[0053] Figure 5 is a schematic flow chart of step S3 in some embodiments;

[0054] Figure 6 It is a structural block diagram of a device for determining radial displacement of a motor shaft in one embodiment of the present disclosure;

[0055] Figure 7 It is a structural block diagram of a device for determining radial displacement of a motor shaft in another embodiment of the present disclosure;

[0056] Figure 8 The structure block diagram of an electronic device in one embodiment of the present disclosure is shown in FIG. DETAILED DESCRIPTION

[0057] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0058] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0059] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0060] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0061] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0062] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0063] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0064] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0065] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0066] The embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0067] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0068] In scenarios where motor-driven industrial equipment is used to perform precision processing on products to be processed (for example, a motor-driven cutting device is required to cut a groove of a specified depth on the surface of the product to be processed, or a motor-driven bending device is required to bend the steel plate to be processed to a specified angle, etc.), it is necessary to accurately obtain the position of the motor at different times. If the position of the motor at different times cannot be accurately obtained, the processing accuracy of the product to be processed cannot be guaranteed.

[0069] Figure 1 FIG. 1 is a schematic diagram of a system structure applicable to a method for determining radial displacement of a motor shaft in an example of the present disclosure. Figure 1 As shown, one end of the bracket 1 is placed on the ground, and the other end is fixedly connected to the housing of the motor to fix the position of the motor 2. A connecting rod 4 is fixedly mounted on the motor shaft 3 of the motor 2, and the connecting rod 4 can be fixedly mounted on the motor shaft 3 by, for example, sleeve connection, bolt fixing or other fixing methods. A target object 5 is fixedly mounted on the connecting rod 4, and the center of gravity of the connecting rod 4 is located on the motor shaft 2.

[0070] Figure 2 FIG. 1 is a flow chart of a method for determining the radial displacement of a motor shaft in one embodiment of the present disclosure. Figure 2 As shown, the method for determining the radial displacement of the motor shaft may include the following steps:

[0071] S1: Acquire the rotation plane of the target object when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate.

[0072] A control instruction is sent to the controller of the motor 2 to control the motor 2 to drive the connecting rod 4 to rotate so as to drive the target object 5 to rotate. The motor 2 may be a stepper motor or a servo motor to accurately control the torque angle of the motor shaft 3 according to the control instruction. The controller may send a control instruction to control the rotation angle of the motor shaft 3 to 360 degrees, 720 degrees, etc., so that the motor 2 drives the connecting rod 4 to rotate N times, where N is an integer greater than 0.

[0073] The target object 5 can be positioned at different spatial positions in the process of the motor 2 driving the connecting rod 4 to rotate to drive the target object 5 to rotate by various positioning methods, thereby obtaining the rotation plane of the target object 5. For example, the target object 5 can be positioned at different spatial positions by radar scanning positioning, image recognition positioning, positioning by a built-in sensor of the target object 5, and the like.

[0074] S2: Get the current position of the target object after the load object is placed on the motor shaft.

[0075] Since the current position of the target object after placing the load object 5 on the motor shaft is offset relative to the position when the load object 5 is not placed on the motor shaft 3, the offset helps to determine the radial displacement of the motor shaft 3. Therefore, a load object 6 with a preset weight can be placed at a preset position of the motor shaft. The load object 6 is used to simulate the actual load of the motor shaft 3 during actual working. The current position of the target object 5 is obtained by positioning the target object 5.

[0076] S3: Determine the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

[0077] Figure 3 This is a partial cross-sectional view of a motor shaft after a load is placed on the motor shaft in an example of the present disclosure. Please refer to Figure 1 and Figure 3 , the rotation plane of the target object is represented by A; the current position of the target object 5 is represented by P (not shown in the figure); the vertical distance between the target object 5 and the motor shaft 3, that is, the rod length between the target object 5 and the motor shaft 3 is the set value, represented by L 1 Indicates; the distance between the first plane B and the second plane C is the set value, expressed as L 2 express.

[0078] The calculation formula preset for the radial displacement of the motor shaft 3 can be used to calculate the radial displacement of the motor shaft 3 using A, P, L 1 and L 2 As an input parameter of the calculation formula, the radial displacement of the motor shaft 3 is calculated.

[0079] In the present embodiment, since the center of gravity of the connecting rod is located on the motor shaft, the process of the motor-driven connecting rod movement can be regarded as the movement of the motor shaft under no-load conditions, and then the rotation plane of the target object in the process of the motor-driven connecting rod rotating to drive the target object to rotate can be regarded as the rotation plane of the motor shaft under no-load conditions. Placing a load object on the motor shaft will cause the motor shaft to be radially displaced, resulting in the current position of the target object after the load object is placed on the motor shaft being offset relative to the position when the load object is not placed on the motor shaft, and the vertical distance between the target object and the motor shaft, and the distance between the first plane (i.e., the plane where the encoder grating of the motor is located) and the second plane (i.e., the plane where the bearing of the motor shaft is located) affect the calculation of the radial displacement of the motor shaft. According to the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane, the radial displacement of the motor shaft can be accurately determined, which helps to improve the motor position positioning accuracy based on the motor encoder according to the radial displacement of the motor shaft.

[0080] Figure 4 is a schematic diagram of the process of step S1 in some embodiments. Figure 4 As shown, step S1 may include:

[0081] S1-1: When the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate, multiple spatial positions of the target object are collected.

[0082] In an optional embodiment of the present disclosure, multiple spatial positions of the target object 5 can be obtained by radar scanning and positioning. The specific process includes: placing a radar near the bracket 1, using the radar to scan when the motor 2 drives the connecting rod 4 to rotate to drive the target object 5 to rotate to obtain the positions and volumes of nearby objects (including the target object 5) at different times (for identifying the target object 5), and extracting the target object 5 in at least three different spatial positions from the radar scanning results.

[0083] In another optional embodiment of the present disclosure, multiple spatial positions of the target object 5 can be obtained by image recognition and positioning. The specific process includes: placing a radar camera near the bracket 1, and using the camera to shoot at least three images including the target object 5 and corresponding to the target object 5 in at least three different spatial positions while the motor 2 drives the connecting rod 4 to rotate to drive the target object 5 to rotate. Combined with the camera parameters, the target object 5 in the at least three images can be spatially positioned to obtain at least three different spatial positions of the target object 5.

[0084] In yet another optional embodiment of the present disclosure, multiple spatial positions of the target object 5 can be obtained by image recognition and positioning. The specific process includes: setting a sensor (such as an inertial sensor) that can be used for positioning in the target object 5, and obtaining at least three different spatial positions of the target object 5 through the sensor.

[0085] S1-2: Perform plane fitting on multiple spatial positions to obtain the rotation plane of the target object.

[0086] The rotation plane A of the target object 5 is obtained by fitting at least three different spatial positions of the target object 5 .

[0087] In this embodiment, the rotation process of the target object is spatially positioned to obtain multiple spatial positions of the target object. Fitting the multiple spatial positions of the target object can accurately obtain the rotation plane of the target object, which helps to improve the positioning accuracy of the radial displacement of the motor shaft.

[0088] Please refer to Figure 1 In some embodiments of the present disclosure, the target object 5 is a target ball. Correspondingly, step S1-1 may include: in the process of the motor driving the connecting rod to rotate to drive the target object on the connecting rod to rotate, scanning the target ball through the laser tracker 7; based on the scanning results, determining multiple spatial positions of the target ball.

[0089] The laser tracker 7 combines various advanced technologies such as laser interferometer ranging technology and photoelectric detection technology to track the target ball and measure the three-dimensional coordinates of the target ball in real time, and can perform high-precision positioning of the target ball during rotation. It should be noted that the method of positioning the target ball by the laser tracker is well known to those skilled in the art and will not be described in detail.

[0090] In this embodiment, a laser tracker can be used to perform high-precision positioning of the target ball during rotation, which helps to improve the positioning accuracy of the target ball's rotation plane and helps to improve the positioning accuracy of the motor shaft's radial displacement.

[0091] Figure 5 is a schematic diagram of the process of step S3 in some embodiments. Figure 5 As shown, step S3 may include:

[0092] S3-1: Based on the rotation plane of the target object and the current position of the target object, determine a vertical distance between the current position of the target object and the rotation plane.

[0093] Please refer to Figure 1 and Figure 3 , the current position P of the target object 5 can be projected onto the rotation plane A of the target object 5, and the projection distance can be determined as the vertical distance from P to A, which is represented by distance(P,A).

[0094] S3-2: Based on the vertical distance distance (P, A) between the current position of the target object and the rotation plane, and the vertical distance L between the target object and the motor shaft 1 , determine the inclination angle θ of the motor shaft.

[0095] The inclination angle θ of the motor shaft can be calculated according to the following formula:

[0096] θ=atan(distance(P,A) / L 1 ).

[0097] S3-3: Based on the distance L between the first plane and the second plane 2 , and the inclination angle θ of the motor shaft, determine the radial displacement of the motor shaft.

[0098] The radial displacement of the motor shaft can be calculated using the following formula:

[0099] L 3 = sin(θ)×L 2

[0100] Among them, L 3 Represents the radial displacement of the motor shaft.

[0101] In this embodiment, based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane, the radial displacement of the motor shaft can be calculated quickly and accurately, which helps to improve the motor position positioning accuracy based on the motor encoder according to the radial displacement of the motor shaft.

[0102] In some embodiments of the present disclosure, before step S1, the following steps may also be included:

[0103] S0: Dynamically balance the motor.

[0104] Through dynamic balancing, the center of gravity of the connecting rod 4 can be located on the motor shaft 3, so that the motor shaft 3 can be stopped at any angle, and the connecting rod can drive the target object to complete N circles of rotation under the precise drive of the motor shaft 3, which helps to accurately determine the rotation plane of the target object, and then helps to accurately determine the radial displacement of the motor shaft.

[0105] In this embodiment, dynamic balancing of the motor helps to accurately determine the rotation plane of the target object, thereby helping to accurately determine the radial displacement of the motor shaft.

[0106] In some embodiments of the present disclosure, the connecting rod 4 is a cross rod, and the center of the cross rod is located on the motor shaft 3. Correspondingly, step S0 may include: adjusting the weight of at least one weight component at a specified position in the cross rod to put the motor in a dynamic balance state.

[0107] Please refer to Figure 1 , components (such as hooks or protrusions, etc.) for placing configuration components can be placed at multiple designated positions on the connecting rod 4, and the weight of the counterweight component at at least one designated position in the connecting rod 4 can be adjusted to achieve dynamic balancing of the motor 2. It should be noted that achieving dynamic balancing of the motor by counterweight method is well known to those skilled in the art and will not be described in detail.

[0108] Figure 6 FIG. 1 is a block diagram of a device for determining radial displacement of a motor shaft in one embodiment of the present disclosure. Figure 6 As shown, a connecting rod is fixedly mounted on the motor shaft of the motor, and the center of gravity of the connecting rod is located on the motor shaft. The device for determining the radial displacement of the motor shaft includes:

[0109] The first acquisition module 100 is used to acquire the rotation plane of the target object when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate;

[0110] The second acquisition module 200 is used to acquire the current position of the target object after the load object is placed on the motor shaft;

[0111] The radial displacement determination module 300 is used to determine the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

[0112] In some embodiments of the present disclosure, the first acquisition module 100 is used to collect multiple spatial positions of the target object when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate; the first acquisition module 100 is also used to perform plane fitting on the multiple spatial positions to obtain the rotation plane of the target object.

[0113] In some embodiments of the present disclosure, the target object is a target ball. The first acquisition module 100 is used to scan the target ball through a laser tracker when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate, and determine multiple spatial positions of the target ball based on the scanning results.

[0114] In some embodiments of the present disclosure, the radial displacement determination module 300 is used to determine the vertical distance between the current position of the target object and the rotation plane based on the rotation plane of the target object and the current position of the target object; the radial displacement determination module 300 is also used to determine the inclination angle of the motor shaft based on the vertical distance between the current position of the target object and the rotation plane, and the vertical distance between the target object and the motor shaft; the radial displacement determination module 300 is also used to determine the radial displacement of the motor shaft based on the distance between the first plane and the second plane, and the inclination angle of the motor shaft.

[0115] Figure 7 FIG. 1 is a structural block diagram of a device for determining the radial displacement of a motor shaft in another embodiment of the present disclosure. Figure 7 As shown, the device for determining the radial displacement of the motor shaft also includes:

[0116] The dynamic balancing module 400 is used to perform dynamic balancing on the motor before the motor drives the connecting rod to rotate to drive the target object to rotate.

[0117] In some embodiments of the present disclosure, the connecting rod is a cross rod, the center of which is located on the motor shaft; the dynamic balancing module 400 is used to adjust the weight of the counterweight component at at least one specified position in the cross rod to put the motor in a dynamic balance state.

[0118] It should be noted that the specific implementation of the device for determining the radial displacement of the motor shaft of the embodiment of the present disclosure is similar to the specific implementation of the method for determining the radial displacement of the motor shaft of the embodiment of the present disclosure. Please refer to the description of the method for determining the radial displacement of the motor shaft for details. In order to reduce redundancy, it will not be repeated here.

[0119] It should be noted that the specific implementation of the system for determining the radial displacement of the motor shaft of the embodiment of the present disclosure is similar to the specific implementation of the method for determining the radial displacement of the motor shaft of the embodiment of the present disclosure, and the technical effect of the device for determining the radial displacement of the motor shaft of the embodiment of the present disclosure is similar to the technical effect of the method for determining the radial displacement of the motor shaft of the embodiment of the present disclosure. Please refer to the description of the method for determining the radial displacement of the motor shaft for details. In order to reduce redundancy, it will not be elaborated on.

[0120] The embodiment of the present disclosure further provides a system for determining radial displacement of a motor shaft, comprising:

[0121] Bracket for fixing the motor position;

[0122] A connecting rod fixedly mounted on the motor shaft of the motor;

[0123] The controller is used to control the motor and determine the radial displacement of the motor shaft by the above method for determining the radial displacement of the motor shaft.

[0124] In addition, an embodiment of the present disclosure further provides an electronic device, including:

[0125] Memory for storing computer programs;

[0126] The processor is used to execute the computer program stored in the memory, and when the computer program is executed, the method for determining the radial displacement of the motor shaft described in any of the above embodiments of the present disclosure is implemented.

[0127] Below, reference Figure 8 To describe the electronic device according to the embodiment of the present disclosure. Figure 8 As shown, the electronic device includes one or more processors and memory.

[0128] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0129] The memory may store one or more computer program products, and the memory may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program products may be stored on the computer-readable storage medium, and the processor may run the computer program product to implement the method for determining the radial displacement of the motor shaft of each embodiment of the present disclosure described above and / or other desired functions.

[0130] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0131] In addition, the input device may also include, for example, a keyboard, a mouse, and the like.

[0132] The output device can output various information to the outside, including determined distance information, direction information, etc. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0133] Of course, to simplify, Figure 8 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0134] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for determining the radial displacement of the motor shaft according to various embodiments of the present disclosure described in the above part of this specification.

[0135] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0136] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the method for determining the radial displacement of the motor shaft according to various embodiments of the present disclosure described in the above part of this specification.

[0137] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0138] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0139] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0140] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0141] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0142] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0143] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0144] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for determining radial displacement of a motor shaft, characterized in that: A connecting rod is fixedly mounted on the motor shaft of the motor, and the center of gravity of the connecting rod is located on the motor shaft. The method includes: Acquire a rotation plane of the target object in a process in which the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate; Acquire the current position of the target object after the load object is placed on the motor shaft; The radial displacement of the motor shaft is determined based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between a first plane and a second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

2. The method according to claim 1, characterized in that In the process where the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, obtaining the rotation plane of the target object includes: In the process where the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, collecting multiple spatial positions of the target object; Plane fitting is performed on the multiple spatial positions to obtain a rotation plane of the target object.

3. The method according to claim 2, characterized in that The target object is a target ball; In the process where the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, collecting multiple spatial positions of the target object includes: In the process of the motor driving the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, the target ball is scanned by a laser tracker; Based on the scanning results, multiple spatial positions of the target sphere are determined.

4. The method according to any one of claims 1 to 3, characterized in that: The determining the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between the first plane and the second plane comprises: Based on the rotation plane of the target object and the current position of the target object, determining a vertical distance between the current position of the target object and the rotation plane; Determining the inclination angle of the motor shaft based on a vertical distance between the current position of the target object and the rotation plane, and a vertical distance between the target object and the motor shaft; The radial displacement of the motor shaft is determined based on the distance between the first plane and the second plane and the tilt angle of the motor shaft.

5. The method according to any one of claims 1 to 3, characterized in that: Before the motor drives the connecting rod to rotate to drive the target object to rotate, the method further includes: The motor is subjected to dynamic balancing.

6. The method according to claim 5, characterized in that The connecting rod is a cross rod, and the center of the cross rod is located on the motor shaft; The step of performing dynamic balancing on the motor comprises: The weight of at least one weight component at a designated position in the cross bar is adjusted to put the motor in a dynamic balance state.

7. A device for determining radial displacement of a motor shaft, characterized in that: A connecting rod is fixedly mounted on the motor shaft of the motor, and the center of gravity of the connecting rod is located on the motor shaft. The device comprises: A first acquisition module is used to acquire a rotation plane of the target object when the motor drives the connecting rod to rotate so as to drive the target object on the connecting rod to rotate; A second acquisition module, used for acquiring the current position of the target object after the load object is placed on the motor shaft; A radial displacement determination module is used to determine the radial displacement of the motor shaft based on the rotation plane of the target object, the current position of the target object, the vertical distance between the target object and the motor shaft, and the distance between a first plane and a second plane, wherein the first plane is the plane where the encoder grating of the motor is located, and the second plane is the plane where the bearing of the motor shaft is located.

8. The device according to claim 7, characterized in that The first acquisition module is used to collect multiple spatial positions of the target object when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate; the first acquisition module is also used to perform plane fitting on the multiple spatial positions to obtain the rotation plane of the target object.

9. The device according to claim 8, characterized in that The target object is a target ball. The first acquisition module is used to scan the target ball through a laser tracker when the motor drives the connecting rod to rotate to drive the target object on the connecting rod to rotate, and determine multiple spatial positions of the target ball based on the scanning results.

10. A system for determining radial displacement of a motor shaft, characterized in that: Bracket for fixing the motor position; A connecting rod fixedly mounted on the motor shaft of the motor; A controller is used to control the motor and determine the radial displacement of the motor shaft by the method described in any one of claims 1-6.

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