Device for converting angular displacement of rotary electric machine into linear displacement measurement and detection method

Abstract

This invention belongs to the field of high-precision detection technology and relates to a device and detection method for converting the angular displacement output measurement of a rotating motor into linear displacement measurement. It aims to solve the problems of existing rotating motor output angular displacement measuring instruments, such as complex structure, high cost, low resolution, and increased motor starting torque. The device includes a rotating motor as the angular displacement output device, an eccentric wheel mounted on the motor shaft, and a linear displacement sensor that detects changes in the rotation radius of the eccentric wheel. Through the eccentric wheel and the linear displacement sensor, the angular displacement output of the rotating motor is converted into a periodic change in the distance between the linear displacement sensor and the outer contour of the eccentric wheel, thus realizing the conversion from angular displacement to linear displacement. Finally, an algorithm module provides the single-step or continuous angular displacement output value of the rotating motor.

Description

Technical fields:

[0001] This invention belongs to the field of high-precision testing technology, and relates to a device and testing method that uses an eccentric wheel to convert the angular displacement output measurement of a rotating motor into linear displacement measurement. Background technology:

[0002] In precision manufacturing, the high-precision assembly process of microelectromechanical systems in the field of micro-nano bioengineering, and the high-precision capture or manipulation of cells in bioengineering, the core of high-precision manipulation instruments—rotary motors (angular displacement output devices) and linear motors (linear displacement output devices)—are indispensable.

[0003] Compared to the angular displacement measurement technology for rotary motors, the linear displacement sensors used for single-step displacement output, continuous displacement output, and resolution measurement of linear motors, such as laser triangulation linear displacement sensors and capacitive linear displacement sensors, are relatively mature technologies. However, the single-step rotation angle, continuous rotation angle, and resolution measurement technologies for rotary motors still need improvement. Furthermore, most current angular displacement output measurements of rotary motors still rely on the principle of contact rotary encoders.

[0004] Rotary encoders increase the size of a rotary motor because they need to be connected to the output shaft of the rotary motor; they are equivalent to the load of the motor and consume some of the motor's starting energy, thus increasing the motor's starting torque; even worse, the starting torque of a rotary encoder is much greater than that of the rotary motor itself, making it impossible to perform high-precision measurements and operations; and the resolution of a rotary encoder is also limited by the machining accuracy of its core component, the grating, once the grating is machined, its parameters cannot be changed. Summary of the Invention:

[0005] To address the problems existing in the measurement of angular displacement output of rotary motors, this invention provides a device and method for converting the measurement of angular displacement output of a rotary motor into linear displacement measurement using an eccentric wheel.

[0006] To achieve the above objectives, the present invention provides a device for converting the angular displacement output measurement of a rotary motor into a linear displacement measurement using an eccentric wheel, comprising: a rotary motor (angular displacement output device), a key conversion component for converting angular displacement output into linear displacement output—an eccentric wheel, a linear displacement measurement sensor (such as a laser triangular displacement sensor or a capacitive displacement sensor), a linear displacement sensor position adjustment module, and an algorithm module for converting linear displacement into angular displacement.

[0007] In the above-mentioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, the angular displacement output device is optionally a rotary motor, which is fixed on a support platform (such as an optical precision platform), and the rotary motor shaft can extend from one side or both sides.

[0008] In the above-mentioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, the eccentric wheel that converts the angular displacement output into a linear displacement output can be, depending on actual needs, fixed to one end of the shaft with bolts, fixed to the shaft with a set screw via a shaft shoulder, or machined as a single unit with the shaft during the machining of the motor shaft; its eccentricity and material density can be customized according to actual operation requirements or testing requirements.

[0009] In the aforementioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, an optional linear displacement sensor is used. This sensor detects the angular displacement generated by the rotation of the eccentric wheel along the shaft and converts it into the distance between the linear displacement sensor and the periodic change of the outer contour of the eccentric wheel through the change in the eccentric wheel's diameter. This sensor is fixed on a three-dimensional adjustable base (xyz) to accommodate the matching between the range of the linear displacement sensor and the difference in the eccentric wheel's diameter. Alternatively, it can be directly fixed to a fixed component of the rotary motor. The linear displacement sensor can also be replaced with a contact-type micro-force sensor or a pressure transducer sensor, in which case the angular displacement output is converted into periodic pressure changes or periodic deformation of the pressure transducer through the eccentric wheel. This device is illustrated using a linear displacement sensor as an example.

[0010] In the aforementioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, optionally, the formula for the relationship between the distance R from the rotation axis of the eccentric wheel to each point on the eccentric wheel profile (hereinafter referred to as the rotation radius R of the eccentric wheel) and the rotation angle α is as follows:

[0011]

[0012] Therefore, the relationship between the rotation angle α and the rotation radius R is obtained as follows:

[0013] (2)

[0014] The relationship between the rotation radius R and the distance f(s) between the eccentric wheel and the outer edge measured by the linear displacement sensor is as follows:

[0015] (3)

[0016] Therefore, the relationship between the rotation angle α and the distance f(s) between the eccentric wheel and the outer edge measured by the linear displacement sensor is obtained as follows:

[0017] (4)

[0018] In the formula, R(α): the distance from the rotation axis of the eccentric wheel to each point on the eccentric wheel profile;

[0019] α: The rotation angle of the eccentric wheel with the motor shaft;

[0020] e: The eccentricity of the eccentric wheel, which is a fixed value;

[0021] r: The fixed radius of the eccentric wheel (the radius of the circle when it is not eccentric), which is a fixed value;

[0022] f(s): The distance between the linear displacement sensor and the outer edge of the eccentric wheel;

[0023] L: The distance between the working starting point of the linear displacement sensor and the center of rotation of the eccentric wheel, which is a fixed value.

[0024] As can be seen from the above formula, each rotation angle α corresponds to the variable rotation radius R of an eccentric wheel, where R is a function with a period of 2π.

[0025] From formula (1):

[0026]

[0027] Where ΔR represents the difference between the maximum and minimum displacement detected by the linear displacement sensor. Therefore, the displacement data measured by the linear displacement sensor is a periodic function varying between its maximum value r+e and its minimum value re. The period is the same as that of function R, but its extrema are opposite to those of function R. That is, when R is at its maximum, the displacement data measured by the sensor is at its minimum, and when R is at its minimum, the displacement data measured by the sensor is at its maximum. In other words, the displacement data function output by the sensor differs from the variable radius function R of the eccentric wheel by half a period, or in other words, their peak values ​​are opposite. Thus, each angular displacement data point corresponds to a linear displacement data point; that is, linear displacement is a function of angular displacement.

[0028] In the above-mentioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, it is optional to adjust the sampling frequency of the linear displacement sensor and select an appropriate eccentricity of the eccentric wheel, which can affect the measurement resolution of the rotary motor to adapt to the angle measurement requirements of motors with different parameter performance.

[0029] In the above-mentioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, an algorithm module may be selected to receive the linear displacement data measured by the linear displacement sensor and convert this data into the angular displacement output value of the rotary motor shaft through an algorithm.

[0030] In the aforementioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, optionally, the algorithm module for converting the linear displacement into the angular displacement output value of the rotary motor shaft includes the functions of determining, displaying in real time, and memorizing the region in which the eccentric wheel is relative to the linear displacement sensor after power failure. The region division is as follows:

[0031] Area 1: The maximum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor;

[0032] Region 2: The eccentric wheel is in a rotation radius that changes from large to small relative to the linear displacement sensor;

[0033] Area 3: The minimum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor;

[0034] Region 4: The eccentric wheel is in the region where the radius of rotation relative to the linear displacement sensor increases from small to large;

[0035] The method for determining this is as follows:

[0036] The initial displacement value detected by the linear displacement sensor is f s1 The displacement value detected after the motor shaft rotates by a small angle α is f. s2 :

[0037] If f s1 If the value is a valley value, then the eccentric wheel is in region 1 relative to the linear displacement sensor;

[0038] If f s1 f s2 There are no peaks or troughs between them, and f s1 <f s2 Then the eccentric wheel is in region 2 relative to the linear displacement sensor;

[0039] If f s1 If the value is the peak value, then the eccentric wheel is in region 3 relative to the linear displacement sensor;

[0040] If f s1 f s2 There are no peaks or troughs between them, and f s2 <f s1 Then the eccentric wheel is in region 4 relative to the linear displacement sensor;

[0041] In the aforementioned device that uses an eccentric wheel to convert the angular displacement output measurement of a rotating motor into a linear displacement measurement, an optional algorithm module can be included to convert the data from a linear displacement sensor (or pressure sensor or pressure transformer sensor) into an angular displacement output. This algorithm includes algorithms for measuring the single angular displacement of the rotating motor and continuous angular displacement measurement. Assuming the linear displacement sensor is located at the end furthest from the eccentric point of the eccentric wheel, and the initial displacement value detected by the linear displacement sensor is f... s1 The rotation angle corresponding to this displacement is α(f) s1 The displacement value detected after the motor shaft is rotated counterclockwise by an angle α is f. s2 The rotation angle corresponding to this displacement is α(f) s2 The core idea of ​​its algorithm is:

[0042] Single angular displacement measurement (excluding cases where the single angular displacement is ≥π, otherwise it would contradict precision measurement):

[0043] (1) If f s1 The valley value; or f s1 f s2 There are no peaks or troughs between them, and f s1 <f s2 ; or f s2 If it is the peak value, then

[0044] 0≤α(f s1 )≤π、0≤α(f s2 )≤π, and α(f) s2 ) > α (f s1 ), Single angular displacement Δα = α(f s2 )-α(f s1 );

[0045] (2) If f s1 f s2 There are peaks in between, and f s1 f s2 If none of them are peak values, then

[0046] 0 < α(f) s1 ) < π, π < α (f s2 ) < 2π, single angular displacement Δα = α(f s2 )-α(f s1 );

[0047] (3) If f s1 For peak value; or f s1 f s2 There are no peaks or troughs between them, and f s2 <f s1 ; or f s2 If it is a valley value, then

[0048] π≤α(f s1 ) < 2π, π < α (f s2 )≤2π, and α(f) s2 ) > α (f s1 ), Single angular displacement Δα = α(f s2 )-α(f s1 );

[0049] (4) If f s1 f s2 There are valleys in between, and f s1 f s2 If none of them are valley values, then

[0050] π<α(f s1 ) < 2π, 0 < α (f s2 If π < 2π, then the single angular displacement Δα = 2π - α(f) s1 )+α(fs2 );

[0051] Continuous angular displacement measurement:

[0052] First, determine the initial angle α(f) based on the region where the eccentric wheel is located relative to the linear displacement sensor. s1 ):

[0053] Region 1: When the maximum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor, the initial angle α (f) s1 ) = 0;

[0054] Region 2: When the eccentric wheel relative to the linear displacement sensor changes from a large to a small rotation radius, the initial angle 0 < α(f) s1 ) < π;

[0055] Region 3: When the minimum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor, the initial angle α (f) s1 ) = π;

[0056] Region 4: When the eccentric wheel is in the region where the radius of rotation relative to the linear displacement sensor increases, the initial angle π < α (f s1 ) < 2π;

[0057] The displacement value of the linear displacement sensor after continuous rotation of several angles is f. si The angle corresponding to this displacement value is α (f si ).

[0058] Then determine whether the last displacement extreme value is a peak or a trough, in order to determine α(f) si The value of ) is output, along with the number of peak values ​​m and the number of valley values ​​n in all displacement data during the rotation process, which are ultimately used to calculate the continuous rotation angle:

[0059] (1) When the initial position of the eccentric wheel is in the aforementioned region 1,

[0060] If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π,

[0061] Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3…

[0062] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 3 (f). si (is the peak) or region 4 (f) si (Not the peak value)

[0063] If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π,

[0064] Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3…

[0065] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 1 (f). si (is the valley value) or region 2 (f) si (Not the lowest value);

[0066] (2) When the initial position of the eccentric wheel is in the aforementioned region 2,

[0067] If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π,

[0068] Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3…

[0069] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 3 (f). si (is the peak) or region 4 (f) si (Not the peak value)

[0070] If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π,

[0071] Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3…

[0072] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 1 (f). si (is the valley value) or region 2 (f) si (Not the lowest value);

[0073] (3) When the initial position of the eccentric wheel is in the aforementioned region 3,

[0074] If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π,

[0075] Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3…

[0076] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 3 (f). si (is the peak) or region 4 (f) si (Not the peak value)

[0077] If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π,

[0078] Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3…

[0079] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 1 (f). si (is the valley value) or region 2 (f) si (Not the lowest value);

[0080] (4) When the initial position of the eccentric wheel is in the aforementioned region 4,

[0081] If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π,

[0082] Continuous rotation angle α = 2mπ + α(f) si )-α(f s1 m=1,2,3…

[0083] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 3 (f). si (is the peak) or region 4 (f) si (Not the peak value)

[0084] If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π,

[0085] Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3…

[0086] Furthermore, the final region (current region) of the eccentric wheel relative to the linear displacement sensor is region 1 (f). si (is the valley value) or region 2 (f) si(Not the lowest value);

[0087] The algorithm module determines and displays the real-time location of the eccentric wheel relative to the linear displacement sensor. Attached image description:

[0088] To more clearly illustrate the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without introducing other innovative principles.

[0089] Figure 1 A schematic diagram of the overall structure of the device for converting the angular displacement output measurement of a rotary motor into a linear displacement measurement using an eccentric wheel, provided in an embodiment of the present invention;

[0090] Figure 2 This is a schematic diagram of a linear displacement sensor detecting the distance between itself and various points on the eccentric wheel profile. The diagram shows the two extreme positions of the distance: the minimum position and the maximum position.

[0091] Figure 3 A schematic diagram showing the functional relationship between the distances between the linear displacement sensor and various points on the outer contour of the eccentric wheel, as measured by the linear displacement sensor, and the rotation angle of the eccentric wheel.

[0092] Figure 4 This is a schematic diagram of an eccentric wheel and its structure and fixing method on the output shaft of a rotary motor.

[0093] In the diagram: 1 is a rotary motor, 2 is the output shaft of the rotary motor, 3 is the eccentric wheel fixed to the shaft shoulder with a set screw, 4 is the eccentric wheel fixed to the shaft end, 5 is a fixed support platform, 6 is a three-dimensional adjustable platform for mounting a linear displacement sensor, 7 is the linear displacement sensor, 8 is an algorithm module that converts the linear displacement measured by the linear displacement sensor into angular displacement, O'O is the eccentricity of the eccentric wheel, H is any point on the outer contour of the eccentric wheel, OH (i.e., R) is the radius of rotation of the eccentric wheel, f sp f is the peak displacement. sv 9 represents the displacement valley value, and 9 represents the eccentric wheel and output shaft being machined as one piece. Detailed implementation method:

[0094] To more clearly illustrate the technical solution and objective of the present invention, the following embodiments provide a more detailed description of the device and detection method for converting the angular displacement output measurement of a rotary motor into linear displacement measurement using an eccentric wheel. In the accompanying drawings, the same reference numerals denote the same or similar components. The described embodiments are merely for better demonstrating possible implementation methods and application technical solutions of the present invention, and are not intended to limit the scope of the invention. Other non-innovative embodiments derived from the technical solutions or embodiments of the present invention should fall within the protection scope of the present invention.

[0095] Example 1: As Figure 1 As shown, the device provided by the present invention, which uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement measurement, includes a rotary motor 1, a rotary motor output shaft 2 and an eccentric wheel 3 or 4 fixed on the output shaft 2, a precision support platform 5, a three-dimensional adjustment platform 6 for a linear displacement sensor and a linear displacement sensor 7 fixed thereon, and an algorithm module 8 for converting the displacement data measured by the linear displacement sensor into rotation angle.

[0096] It should be noted that the eccentric wheel can be installed on the motor output shaft end, the shaft shoulder, or other locations depending on the specific circumstances. Figure 4 As shown in Figure 9, it is machined as a single unit with the motor output shaft. This example illustrates this by showing an eccentric wheel mounted on the shaft end.

[0097] The eccentricity of the eccentric wheel 4 can be customized according to the actual resolution requirements and the linear measurement range of the linear displacement sensor 7; and the surface roughness of the outer contour of the eccentric wheel should meet certain requirements to adapt to the performance of the linear displacement sensor 7.

[0098] The linear displacement sensor 7 can be a non-contact laser displacement sensor or an eddy current sensor, or it can be a pressure sensor or a pressure transformer sensor that contacts the outer contour of the eccentric wheel to measure the change in the rotation radius R of the eccentric wheel 4 caused by the rotation of the rotary motor, thereby converting the change in displacement, pressure or deformation of the component into the change in displacement, pressure or deformation of the component.

[0099] like Figures 1-3 As shown, the principle and detection steps of the device for converting the angular displacement output measurement of a rotary motor into a linear displacement measurement using an eccentric wheel are as follows.

[0100] The principle by which this invention converts the angular displacement measurement of a rotating electric motor into a linear displacement measurement is as follows: Figure 2As shown, the rotation center of the eccentric wheel 4 with an eccentricity of e is O. Point O coincides with the axis of the output shaft of the rotary motor. The linear displacement sensor 7 is installed on one side of the eccentric wheel. After it is fixed, the distance L between the working measurement starting point of the linear displacement sensor and point O is fixed and known. After the motor shaft rotates by an angle α, the measurement point of the displacement sensor is point H. In triangle O'OH, OO'=e is known, O'H is the radius r of the eccentric wheel when it is not eccentric, OH=R is the variable rotation radius of the eccentric wheel, R=Lf(s), and f(s) is the displacement change measured by the displacement sensor. Since L is fixed and known, the change of f(s) corresponds one-to-one with the change of R. In triangle O'OH, applying the law of cosines, we obtain:

[0101] r 2 =R 2 +e 2 -2Recosα, that is, cosα=(R 2 +e 2 -r 2 ) / (2Re)

[0102] Rearranging the above equation and using the quadratic formula, we obtain equation (1), that is:

[0103]

[0104] Thus, we obtain equation (2):

[0105] (2)

[0106] according to: (3)

[0107] Equation (4) is obtained:

[0108] (4)

[0109] Based on the above principle, the specific steps for measuring the angular displacement of a rotary motor using the device of the present invention are as follows:

[0110] Step 1: Select a linear displacement sensor and a customized eccentric wheel based on the sampling frequency, longitudinal resolution, working range, eccentricity of the eccentric wheel, eccentric wheel installation method, installation space of the detection accessories, and other detection technical parameter requirements of the linear displacement sensor. Install, debug, and fix the relative positions of the linear displacement sensor and the eccentric wheel so that they are on the same horizontal line. The measurement range of the linear displacement sensor should not be less than twice the eccentricity (2e), ensuring that the change in the rotation radius R caused by the rotation of the eccentric wheel is within the measurable range of the linear displacement sensor.

[0111] Step 2: Calculate or measure the distance L from the starting point of the linear displacement sensor to the rotation axis of the eccentric wheel.

[0112] Step 3: When it is necessary to measure a single angular displacement, this is illustrated by taking the eccentric wheel as being in region 2 where the radius of rotation of the linear displacement sensor decreases from large to small. The initial displacement value measured by the linear displacement sensor is f. s1 The algorithm module records f s1 The value can be obtained by considering the region 2 and formula (4) as α(f). s1 The value takes values ​​in the interval [0, π]. After the rotating motor is given an excitation to produce a single angular displacement (assuming that the eccentric wheel is still in region 2 and has not crossed regions after rotation relative to the linear displacement sensor), the displacement value measured by the linear displacement sensor at this time is f. s2 The algorithm module records f s2 Value, algorithm module compares f s1 and f s2 Size, f s1 <f s2 The location of area 2 is correct, according to Figure 3 And from formula (4), we know α(f) s2 The value of ) takes place in the interval [0, π], and the single angular displacement Δα = α(f) s2 )-α(f s1 The algorithm module has the function of real-time judgment and power-off memory of which area the eccentric wheel is in relative to the linear displacement sensor; others are similar.

[0113] Step 4: When it is necessary to measure continuous angular displacement, based on the region where the eccentric wheel is located relative to the linear displacement sensor as displayed by the algorithm module, here we take region 2 where the eccentric wheel is located relative to the linear displacement sensor and the radius of rotation decreases as an example. The initial displacement value measured by the linear displacement sensor is f. s1 According to formula (4), the corresponding angle is calculated as α(f). s1 ), then α(f) s1 The linear displacement sensor displacement value f takes a value in the interval (0, π) and is obtained after continuous rotation by a certain angle. si According to formula (4), the angle corresponding to this displacement value is calculated as α(f). si Assuming the last extremum is the peak value and f si If there are m peaks before, then α(f) si The value of α is taken in the interval [π, 2π), and the continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 The algorithm module outputs continuous angle values; the rest is similar.

Claims

1. A device that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement output measurement, characterized in that: The device includes a support base, on which a fixed rotary motor is mounted, and on the output shaft of the rotary motor is a fixed eccentric wheel. A fixed xyz three-dimensional adjustable base is mounted on the support base, and a fixed linear displacement sensor is mounted on the three-dimensional adjustable base and placed radially opposite to the eccentric wheel. A linear displacement data receiving module is placed behind the linear displacement sensor, and an algorithm module for converting linear displacement into angular displacement is connected to the linear displacement data receiving module.

2. The device for converting the angular displacement output measurement of a rotary motor into a linear displacement output measurement using an eccentric wheel as described in claim 1, characterized in that: The key component that converts rotational angular displacement into linear displacement—the eccentric wheel—can have its eccentricity, material type, and density customized to meet the operational and testing requirements of the actual rotating motor.

3. The device for converting the angular displacement output measurement of a rotary motor into a linear displacement output measurement using an eccentric wheel as described in claim 1, characterized in that: Linear displacement sensing can be non-contact laser displacement sensors, eddy current displacement sensors, or pressure sensors, pressure transformer sensors, etc., that measure in contact with the outer contour of the eccentric wheel, thereby converting the change in the rotation radius R of the eccentric wheel caused by the rotation of the rotating motor into displacement change, pressure change, or deformation of the component.

4. The device for converting the angular displacement output measurement of a rotary motor into a linear displacement output measurement using an eccentric wheel as described in claim 2, characterized in that: The formula relating the distance R from the rotation axis of the eccentric wheel to each point on the eccentric wheel profile (hereinafter referred to as the rotation radius R of the eccentric wheel) to the rotation angle α is as follows: Therefore, the relationship between the rotation angle α and the rotation radius R is obtained as follows: （2） The relationship between the rotation radius R and the distance f(s) between the eccentric wheel and the outer edge measured by the linear displacement sensor is as follows: （3） Therefore, the relationship between the rotation angle α and the distance f(s) between the eccentric wheel and the outer edge measured by the linear displacement sensor is obtained as follows: （4） In the formula, R(α): the distance from the rotation axis of the eccentric wheel to each point on the eccentric wheel profile; α: The rotation angle of the eccentric wheel with the motor shaft; e: The eccentricity of the eccentric wheel, which is a fixed value; r: The fixed radius of the eccentric wheel (the radius of the circle when it is not eccentric), which is a fixed value; f(s): The distance between the linear displacement sensor and the outer edge of the eccentric wheel; L: The distance between the working starting point of the linear displacement sensor and the center of rotation of the eccentric wheel, which is a fixed value.

5. The device for converting the angular displacement output measurement of a rotary motor into a linear displacement output measurement using an eccentric wheel as described in claim 2, characterized in that: The eccentric wheel can be fixed to the motor output shaft by screws to the shaft end, set screws to the shaft shoulder, or machined into one piece with the motor output shaft.

6. A detection method that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement output measurement, characterized in that: The algorithm module that converts linear displacement into angular displacement output value of the rotary motor shaft includes functions for judging, real-time display, and power-off memory of which region the eccentric wheel is in relative to the linear displacement sensor. The region division is as follows: Area 1: The maximum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor; Region 2: The eccentric wheel is in a rotation radius that changes from large to small relative to the linear displacement sensor; Area 3: The minimum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor; Region 4: The eccentric wheel is in the region where the radius of rotation relative to the linear displacement sensor increases from small to large; The method for determining this is as follows: The initial displacement value detected by the linear displacement sensor is f s1 The displacement value detected after the motor shaft rotates by a small angle α is f. s2 : If f s1 If the value is a valley value, then the eccentric wheel is in region 1 relative to the linear displacement sensor; If f s1 f s2 There are no peaks or troughs between them, and f s1 <f s2 Then the eccentric wheel is in region 2 relative to the linear displacement sensor; If f s1 If the value is the peak value, then the eccentric wheel is in region 3 relative to the linear displacement sensor; If f s1 f s2 There are no peaks or troughs between them, and f s2 <f s1 Then the eccentric wheel is in region 4 relative to the linear displacement sensor; The algorithm module determines and displays the area of ​​the eccentric wheel relative to the linear displacement sensor in real time based on the initially determined area and the direction and angle of the motor rotation.

7. A detection method that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement output measurement, characterized in that: When single-angular displacement measurement is required (excluding cases where the single-angular displacement is ≥π, otherwise it contradicts precision measurement): the initial displacement value detected by the linear displacement sensor is f. s1 The rotation angle corresponding to this displacement is α(f) s1 The displacement value detected after the motor shaft is rotated counterclockwise by an angle α is f. s2 The rotation angle corresponding to this displacement is α(f) s2 The core idea of ​​its algorithm is: (1) If f s1 The valley value; or f s1 f s2 There are no peaks or troughs between them, and f s1 <f s2 ; or f s2 If it is the peak value, then 0≤α(f s1 )≤π、0≤α(f s2 )≤π, and α(f) s2 ) > α (f s1 ), Single angular displacement Δα = α(f s2 )-α(f s1 ); (2) If f s1 f s2 There are peaks in between, and f s1 f s2 If none of them are peak values, then 0 < α(f s1 ) < π, π < α(f s2 ) < 2π, the single angular displacement △α = α(f s2 ) - α(f s1 ); (3) If f s1 For peak value; or f s1 f s2 There are no peaks or troughs between them, and f s2 <f s1 ; or f s2 If it is a valley value, then π≤α(f s1 ) < 2π, π < α (f s2 )≤2π, and α(f) s2 ) > α (f s1 ), Single angular displacement Δα = α(f s2 )-α(f s1 ); (4) If f s1 f s2 There are valleys in between, and f s1 f s2 If none of them are valley values, then π < α(f s1 ) < 2π, 0 < α(f s2 ) < π, the single angular displacement △α = 2π - α(f s1 ) + α(f s2 ); The single angular displacement value is output by the algorithm module.

8. A detection method that uses an eccentric wheel to convert the angular displacement output measurement of a rotary motor into a linear displacement output measurement, characterized in that: When continuous angular displacement measurement is required: first, determine the initial angle α(f) based on the region where the eccentric wheel is relative to the linear displacement sensor. s1 ): Region 1: When the maximum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor, the initial angle α (f) s1 ) = 0; Region 2: When the eccentric wheel relative to the linear displacement sensor changes from a large to a small rotation radius, the initial angle 0 < α(f) s1 ) < π; Region 3: When the minimum rotation radius of the eccentric wheel is exactly aligned with the linear displacement sensor, the initial angle α (f) s1 ) = π; Region 4: When the eccentric wheel is in the region where the radius of rotation relative to the linear displacement sensor increases, the initial angle π < α (f s1 ) < 2π; The displacement value of the linear displacement sensor after continuous rotation of several angles is f. si The angle corresponding to this displacement value is α (f si Then determine whether the last displacement extreme value is a peak or a valley value, in order to determine α(f) si The value of ) is output, along with the number of peak values ​​m and the number of valley values ​​n in all displacement data during the rotation process, which are ultimately used to calculate the continuous rotation angle: (1) When the initial position of the eccentric wheel is in the aforementioned region 1, If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π, Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3… If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π, Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3… (2) When the initial position of the eccentric wheel is in the aforementioned region 2, If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π, Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3… If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π, Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3… (3) When the initial position of the eccentric wheel is in the aforementioned region 3, If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π, Continuous rotation angle α = 2(m-1)π + α(f) si )-α(f s1 m=1,2,3… If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π, Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3… (4) When the initial position of the eccentric wheel is in the aforementioned region 4, If the last extreme value of the displacement data is the peak value, and f si If there are m peaks, then: π ≤ α (f si ) < 2π, Continuous rotation angle α = 2mπ + α(f) si )-α(f s1 m=1,2,3… If the last extreme value of the displacement data is a valley value, and f si If there are n valley values, then: 0 ≤ α (f si ) < π, Continuous rotation angle α = 2nπ + α(f) si )-α(f s1 ), n=1,2,3… Continuous angular displacement measurement data is output by the algorithm module.

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