Methods, devices, and systems for determining the radial displacement of a motor shaft.

Abstract

This disclosure provides a method, apparatus, and system for determining the radial displacement of a motor shaft. A connecting rod is fixedly mounted on the motor shaft, with the center of gravity of the connecting rod located on the motor shaft. The method includes: acquiring the rotation plane of the target object during the process of the motor driving the connecting rod to rotate, thereby causing a target object on the connecting rod to rotate; acquiring the current position of the target object after a load 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 a first plane and a second plane. This disclosure can accurately determine the radial displacement of the motor shaft, which helps to improve the motor position positioning accuracy based on the motor encoder.

Description

Technical Field

[0001] This disclosure relates to the field of equipment testing technology, and in particular to a method, apparatus and system for determining the radial displacement of a motor shaft. Background Technology

[0002] In certain applications where electric motors are used, it is necessary to accurately determine the motor's position at different times in order to effectively control it. Related technologies utilize motor encoders to read motor position parameters, and then determine the motor's position based on these parameters.

[0003] When installing a motor encoder, it is usually necessary to calibrate the encoder readings to obtain high-precision encoder position. However, the calibration process is affected by the rigidity of the motor shaft. Radial movement of the motor shaft will cause changes in the encoder readings, 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 positioning accuracy of the motor based on the motor encoder is an urgent problem to be solved. Summary of the Invention

[0005] This disclosure provides a method, apparatus, and system for determining the radial displacement of a motor shaft to solve the above-mentioned problems.

[0006] A first aspect of this disclosure provides a method for determining the radial displacement of a motor shaft, 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 includes:

[0007] Obtain the plane of rotation of the target object during the process in which the motor drives the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate;

[0008] Obtain 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 the first plane and the second plane. 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 this disclosure, the step of obtaining the rotation plane of the target object on the connecting rod during the process of the motor driving the connecting rod to rotate to drive the target object to rotate includes:

[0011] During the process of the motor driving the connecting rod to rotate so as to rotate the target object on the connecting rod, multiple spatial positions of the target object are collected;

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

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

[0014] During the process of the motor driving the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate, multiple spatial positions of the target object are collected, including:

[0015] During the process of the motor driving the connecting rod to rotate, thereby causing 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 ball are determined.

[0017] In some embodiments of this 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, determine the vertical distance between the current position of the target object and the rotation plane;

[0019] The tilt angle of the motor shaft is determined 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.

[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 this disclosure, before the motor drives the connecting rod to rotate to rotate the target object, the method further includes:

[0022] The motor is then subjected to dynamic balancing.

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

[0024] The dynamic balancing process for the motor includes:

[0025] Adjust the weight of at least one counterweight component at a designated position in the crossbar to bring the motor into a dynamic balance state.

[0026] A second aspect of this disclosure provides a device for determining the radial displacement of a motor shaft, wherein a connecting rod is fixedly mounted on the motor shaft of the motor, the center of gravity of the connecting rod being located on the motor shaft, and the device includes:

[0027] The first acquisition module is used to acquire the rotation plane of the target object during the process of the motor driving the connecting rod to rotate so as to drive the target object on the connecting rod to rotate;

[0028] The second acquisition module is used to acquire the current position of the target object after the load object is placed on the motor shaft;

[0029] The 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 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.

[0030] In some embodiments of this disclosure, the first acquisition module is used to acquire multiple spatial positions of the target object during the process of the motor driving 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 this disclosure, the target object is a target ball, and the first acquisition module is used to scan the target ball with a laser tracker during the process of the motor driving the connecting rod to rotate to drive the target object on the connecting rod to rotate, and to determine multiple spatial positions of the target ball based on the scanning results.

[0032] In some embodiments of this disclosure, the radial displacement determining 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 determining module is also used to determine the tilt 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 determining 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 tilt angle of the motor shaft.

[0033] In some embodiments of this disclosure, the apparatus further includes:

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

[0035] In some embodiments of this disclosure, the connecting rod is a crossbar, the center of which is located on the motor shaft; the dynamic balancing module is used to adjust the weight of at least one counterweight component at a designated position in the crossbar so that the motor is in a dynamic balanced state.

[0036] A third aspect of this disclosure provides a system for determining the radial displacement of a motor shaft, comprising:

[0037] Bracket for fixing the position of the motor;

[0038] A connecting rod fixedly installed 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 means of the method described in the first aspect above.

[0040] A fourth aspect of this disclosure provides an electronic device, comprising:

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

[0042] Memory, used to store computer program products;

[0043] A processor is configured to execute a 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 implements the method described in the first aspect above.

[0044] A fifth aspect of this disclosure provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method described in the first aspect above.

[0045] The method, apparatus, and system for determining the radial displacement of the motor shaft according to embodiments of this disclosure, since the center of gravity of the connecting rod is located on the motor shaft, can be regarded as the motion of the motor shaft under no-load conditions because the motor drives the connecting rod to move. Therefore, the rotation plane of the target object during the process of the motor driving the connecting rod to rotate, thereby causing 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 causes radial displacement of the motor shaft, resulting in a shift in the current position of the target object after placing the load object on the motor shaft relative to its position when no load object is placed on the motor shaft. Furthermore, 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. Embodiments of this disclosure can accurately 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 and second planes, 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 solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

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

[0048] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0049] Figure 1 A schematic diagram of the system structure to which the method for determining the radial displacement of the motor shaft in one example of this disclosure applies;

[0050] Figure 2 This is a flowchart illustrating a method for determining the radial displacement of a motor shaft in one embodiment of this disclosure;

[0051] Figure 3 This is a partial cross-sectional view of the motor shaft after a load has been placed on it, as shown in one example of this disclosure.

[0052] Figure 4 This is a flowchart illustrating step S1 in some embodiments;

[0053] Figure 5 This is a flowchart illustrating step S3 in some embodiments;

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

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

[0056] Figure 8 This is a structural block diagram of an electronic device in one embodiment of the present disclosure. Detailed Implementation

[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, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0058] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0059] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0060] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0061] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0062] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0063] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0064] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

[0066] The embodiments disclosed herein can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate together with a wide range of other general-purpose or special-purpose 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, and servers 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 PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0067] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, 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 distributed cloud computing environments, where tasks are executed by remote processing devices linked through communication networks. In distributed cloud computing environments, program modules can reside on local or remote computing system storage media, including storage devices.

[0068] In scenarios where precision machining of products is performed using motor-driven industrial equipment (e.g., a motor-driven cutting machine needs to cut grooves of a specified depth on the surface of a product, or a motor-driven bending machine needs to bend a steel plate to a specified angle), it is essential to accurately determine the motor's position at different times. Without this precise measurement, the machining accuracy of the product cannot be guaranteed.

[0069] Figure 1 This is a schematic diagram of the system structure to which the method for determining the radial displacement of the motor shaft in one example of this disclosure applies. Figure 1 As shown, one end of the bracket 1 is placed on the ground, and the other end is fixedly connected to the motor housing to fix the position of the motor 2. A connecting rod 4 is fixedly installed on the motor shaft 3 of the motor 2. For example, the connecting rod 4 can be fixedly installed on the motor shaft 3 by means of a sleeve, bolt, or other fixing method. A target object 5 is fixedly installed 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 This is a flowchart illustrating a method for determining the radial displacement of a motor shaft in one embodiment of this disclosure. Figure 2 As shown, the method for determining the radial displacement of the motor shaft may include the following steps:

[0071] S1: Obtain the rotation plane of the target object during the process of the motor driving the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate.

[0072] A control command is sent to the controller of motor 2 to control motor 2 to drive the connecting rod 4 to rotate, thereby rotating the target object 5. Motor 2 can be a stepper motor or a servo motor, precisely controlling the torque angle of the motor shaft 3 according to the control command. The controller can send control commands to control the rotation angle of motor shaft 3 to 360 degrees, 720 degrees, etc., so that motor 2 drives the connecting rod 4 to rotate N revolutions, where N is an integer greater than 0.

[0073] The different spatial positions of the target object 5 during the rotation of the connecting rod 4 driven by the motor 2 can be obtained through various positioning methods, thereby obtaining the rotation plane of the target object 5. For example, the different spatial positions of the target object 5 can be obtained through radar scanning positioning, image recognition positioning, positioning by the built-in sensors of the target object 5, etc.

[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, this 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 on the motor shaft. The load object 6 is used to simulate the actual load on the motor shaft 3 during actual operation. 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. The first plane is the plane containing the encoder grating of the motor, and the second plane is the plane containing the bearing of the motor shaft.

[0077] Figure 3 This is a partial cross-sectional view of the motor shaft after a load has been placed on it, as shown in one example of this disclosure. Please refer to... Figure 1 and Figure 3 The plane of rotation of the target object is denoted by A; the current position of the target object 5 is denoted 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 a set value, denoted by L1; the distance between the first plane B and the second plane C is a set value, denoted by L2.

[0078] The radial displacement of motor shaft 3 can be calculated using a preset calculation formula for the radial displacement of motor shaft 3, with A, P, L1 and L2 as input parameters.

[0079] In this 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. Therefore, the rotation plane of the target object during the process of the motor driving the connecting rod to rotate, thereby causing 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 causes radial displacement of the motor shaft, resulting in a shift in the current position of the target object after placing the load object on the motor shaft relative to its position when no load object is placed on the motor shaft. Furthermore, the vertical distance between the target object and the motor shaft, and the distance between the first plane (i.e., the plane where the motor's encoder grating is located) and the second plane (i.e., the plane where the motor shaft's bearing is located), affect the calculation of 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 and second planes, 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 These are flowcharts illustrating step S1 in some embodiments. For example... Figure 4 As shown, step S1 may include:

[0081] S1-1: During the process of the motor driving the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate, multiple spatial positions of the target object are collected.

[0082] In one optional embodiment of this 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 support 1, using the radar to scan and obtain the positions and volumes of nearby objects (including the target object 5) at different times during the process of the motor 2 driving the connecting rod 4 to rotate and drive the target object 5 to rotate (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 this 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 capture at least three images of the target object 5, which are located in at least three different spatial positions, while the motor 2 drives the connecting rod 4 to rotate to rotate the target object 5. Combining the camera parameters, the target object 5 can be spatially located in the at least three images to obtain at least three different spatial positions of the target object 5.

[0084] In another optional embodiment of this disclosure, multiple spatial positions of the target object 5 can be obtained by image recognition positioning. The specific process includes: setting a sensor (e.g., an inertial sensor) that can be used for positioning inside 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 located 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 this disclosure, the target object 5 is a target ball. Correspondingly, step S1-1 may include: during 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 by the laser tracker 7; and determining multiple spatial positions of the target ball based on the scanning results.

[0089] The laser tracker 7 integrates various advanced technologies such as laser interferometric ranging and photoelectric detection to track the target ball and measure its three-dimensional spatial coordinates in real time, enabling high-precision positioning of the target ball during rotation. It should be noted that the method of positioning the target ball using a laser tracker is well-known to those skilled in the art and will not be elaborated upon.

[0090] In this embodiment, the 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 the positioning accuracy of the motor shaft's radial displacement.

[0091] Figure 5 These are flowcharts illustrating step S3 in some embodiments. For example... Figure 5 As shown, step S3 may include:

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

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

[0094] S3-2: Determine the tilt angle θ of the motor shaft based on the vertical distance (P,A) between the current position of the target object and the rotation plane, and the vertical distance L1 between the target object and the motor shaft.

[0095] The tilt angle θ of the motor shaft can be calculated using the following formula:

[0096] θ=atan(distance(P,A) / L1).

[0097] S3-3: Determine the radial displacement of the motor shaft based on the distance L2 between the first plane and the second plane, and the tilt angle θ of the motor shaft.

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

[0099] L3=sin(θ)×L2

[0100] Where L3 represents the radial displacement of the motor shaft.

[0101] In this embodiment, the radial displacement of the motor shaft can be quickly and accurately calculated 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. This helps to improve the motor position positioning accuracy based on the motor encoder by calculating the radial displacement of the motor shaft.

[0102] In some embodiments of this disclosure, the following steps may be included prior to step S1:

[0103] S0: Perform dynamic balancing on the motor.

[0104] Dynamic balancing ensures that the center of gravity of the connecting rod 4 is located on the motor shaft 3, allowing the motor shaft 3 to stop at any angle. This enables the connecting rod to drive the target object to complete N rotations under the precise drive of the motor shaft 3, which helps to accurately determine the rotation plane of the target object and, consequently, the radial displacement of the motor shaft.

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

[0106] In some embodiments of this disclosure, the connecting rod 4 is a crossbar, with its center located on the motor shaft 3. Correspondingly, step S0 may include: adjusting the weight of at least one counterweight component at a designated position in the crossbar to bring the motor into a dynamic balance state.

[0107] Please refer to Figure 1 Components (such as hooks or protrusions) for placing configuration parts can be placed at multiple designated positions on the connecting rod 4. By adjusting the weight of a counterweight component at at least one designated position on the connecting rod 4, dynamic balancing of the motor 2 can be achieved. It should be noted that achieving dynamic balancing of the motor using the counterweight method is well known to those skilled in the art and will not be elaborated upon.

[0108] Figure 6 This is a structural block diagram of a device for determining the radial displacement of a motor shaft according to one embodiment of this 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 during the process of the motor driving the connecting rod to rotate, thereby causing 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. 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 this disclosure, the first acquisition module 100 is used to acquire multiple spatial positions of the target object during 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 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 this disclosure, the target object is a target ball. The first acquisition module 100 is used to scan the target ball with a laser tracker during the process of the motor driving the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, and to determine multiple spatial positions of the target ball based on the scanning results.

[0114] In some embodiments of this 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 tilt 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 tilt angle of the motor shaft.

[0115] Figure 7 This is a structural block diagram of a device for determining the radial displacement of a motor shaft according to another embodiment of this 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 and thus rotate the target object.

[0117] In some embodiments of this disclosure, the connecting rod is a crossbar, with the center of the crossbar located on the motor shaft; the dynamic balancing module 400 is used to adjust the weight of at least one counterweight component at a designated position in the crossbar so that the motor is in a dynamic balanced state.

[0118] It should be noted that the specific implementation of the device for determining the radial displacement of the motor shaft in this disclosure is similar to the specific implementation of the method for determining the radial displacement of the motor shaft in this disclosure. For details, please refer to the description of the method for determining the radial displacement of the motor shaft. To reduce redundancy, further details will not be provided.

[0119] It should be noted that the specific implementation of the motor shaft radial displacement determination system of this disclosure is similar to the specific implementation of the motor shaft radial displacement determination method of this disclosure, and the technical effects of the motor shaft radial displacement determination device of this disclosure are similar to the technical effects of the motor shaft radial displacement determination method of this disclosure. For details, please refer to the description of the motor shaft radial displacement determination method section. In order to reduce redundancy, it will not be repeated.

[0120] This disclosure also provides a system for determining the radial displacement of a motor shaft, comprising:

[0121] Bracket for fixing the position of the motor;

[0122] A connecting rod fixedly installed 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 using the method described above for determining the radial displacement of the motor shaft.

[0124] In addition, this disclosure also provides an electronic device, including:

[0125] Memory, used to store computer programs;

[0126] A processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, it implements the method for determining the radial displacement of the motor shaft as described in any of the above embodiments of the present disclosure.

[0127] Below, for reference Figure 8 To describe an electronic device according to embodiments of this disclosure. For example... Figure 8 As shown, the electronic device includes one or more processors and memory.

[0128] A processor can be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and can control other components in an electronic device to perform desired functions.

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

[0130] In one example, the electronic device may also include input devices and output devices, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

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

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

[0133] Of course, for the sake of simplicity, Figure 8 Only some of the components of the electronic device relevant to this disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device may include any other suitable components depending on the specific application.

[0134] In addition to the methods and apparatus described above, embodiments of this disclosure may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods for determining the radial displacement of a motor shaft according to various embodiments of this disclosure as described in the foregoing portion of this specification.

[0135] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0136] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for determining the radial displacement of a motor shaft according to various embodiments of this disclosure as described in the foregoing portion of this specification.

[0137] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0138] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0139] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0140] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0141] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0142] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0143] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this 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 this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0144] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for determining the 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: Obtain the plane of rotation of the target object during the process in which the motor drives the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate; Obtain 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 the first plane and the second plane. This includes: determining the vertical distance from the current position of the target object to the rotation plane based on the rotation plane and the current position of the target object; determining the tilt angle of the motor shaft based on the vertical distance from the current position of the target object to the rotation plane and the vertical distance between the target object and the motor shaft; and determining the radial displacement of the motor shaft based on the distance between the first plane and the second plane and the tilt angle of the motor shaft. 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, The process of obtaining the rotation plane of the target object during the process of the motor driving the connecting rod to rotate to drive the target object on the connecting rod to rotate includes: During the process of the motor driving the connecting rod to rotate so as to rotate the target object on the connecting rod, multiple spatial positions of the target object are collected; Plane fitting is performed on the multiple spatial positions to obtain the rotation plane of the target object.

3. The method according to claim 2, characterized in that, The target object is a target ball; During the process of the motor driving the connecting rod to rotate, thereby causing the target object on the connecting rod to rotate, multiple spatial positions of the target object are collected, including: During the process of the motor driving the connecting rod to rotate, thereby causing 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 ball are determined.

4. The method according to any one of claims 1-3, characterized in that, Before the motor drives the connecting rod to rotate, thereby causing the target object to rotate, the following is also included: The motor is then subjected to dynamic balancing.

5. The method according to claim 4, characterized in that, The connecting rod is a cross-shaped rod, and the center of the cross-shaped rod is located on the motor shaft; The dynamic balancing process for the motor includes: Adjust the weight of at least one counterweight component at a designated position in the crossbar to bring the motor into a dynamic balance state.

6. A device for determining the 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 includes: The first acquisition module is used to acquire the rotation plane of the target object during 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 second acquisition module is used to acquire 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. This includes: determining the vertical distance from the current position of the target object to the rotation plane based on the rotation plane and the current position of the target object; determining the tilt angle of the motor shaft based on the vertical distance from the current position of the target object to the rotation plane and the vertical distance between the target object and the motor shaft; and determining the radial displacement of the motor shaft based on the distance between the first plane and the second plane and the tilt angle of the motor shaft. 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.

7. The apparatus according to claim 6, characterized in that, The first acquisition module is used to acquire multiple spatial positions of the target object during 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 first acquisition module is also used to perform plane fitting on the multiple spatial positions to obtain the rotation plane of the target object.

8. The apparatus according to claim 7, characterized in that, The target object is a target ball. The first acquisition module is used to scan the target ball with a laser tracker during the process of the motor driving the connecting rod to rotate so as to drive the target object on the connecting rod to rotate, and to determine multiple spatial positions of the target ball based on the scanning results.

9. A system for determining the radial displacement of a motor shaft, characterized in that, Bracket for fixing the position of the motor; A connecting rod fixedly installed on the motor shaft of the motor; A controller for controlling the motor and determining the radial displacement of the motor shaft by means of the method described in any one of claims 1-5.

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