WO2020133265A1

WO2020133265A1 - Parameter acquiring and tracking system for spatial motion of bearing movable component, parameter acquiring and tracking method for spatial motion of bearing movable component, and bearing

Info

Publication number: WO2020133265A1
Application number: PCT/CN2018/125037
Authority: WO
Inventors: 黄运生; 马子魁; 姜绍娜
Original assignee: 舍弗勒技术股份两合公司; 黄运生
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-07-02
Also published as: CN112654797B; CN112654797A

Abstract

A parameter acquiring and tracking system for spatial motion of a bearing movable component, a parameter acquiring and tracking method for spatial motion of a bearing movable component, and a bearing. The tracking system is provided with a parameter acquiring module (12) and a parameter sending module (14) based on a micro-electromechanical system on a bearing movable component (1). Thus, on the one hand, spatial motion parameters at a predetermined position of the bearing movable component can be acquired in real time by the parameter acquiring module (12), on the other hand, the spatial motion parameters can also be preferably sent to a designated device in real time by the parameter sending module (14), furthermore, the spatial motion state of the bearing movable component can be obtained on the basis of the spatial motion parameters by means of the designated device, so that the motion characteristics of the bearing movable component can be summarized and analyzed.

Description

Parameter collection and tracking system for space movement of bearing movable parts, parameter collection and tracking method for space movement of bearing movable parts and bearings

Technical field

The present invention relates to a field of parameter acquisition and tracking based on micro-electromechanical sensors for spatial motion of bearing movable parts, and more particularly to a parameter acquisition and tracking system for spatial movement of bearing movable parts, and for bearing movable parts The parameter collection and tracking method of space motion and bearing.

Background technique

In the prior art, measuring and tracking the motion state and stress state of the rolling elements and cage inside the bearing and understanding and mastering the motion characteristics and stress characteristics of the rolling element and cage inside the bearing in detail can help the bearing Design and R&D personnel find the direction of bearing design and optimization more accurately. However, since the bearing generally has good sealing conditions and the inside of the bearing is filled with a lubricating medium, it is difficult to directly obtain the true motion state and stress state of the rolling elements and cage inside the bearing.

Now, generally by establishing the kinematics model and the mechanical model, and then using numerical calculation and simulation to obtain the respective motion state and force state of the rolling element and the cage. However, because this method of model establishment is generally based on more assumptions, the results of the analysis of the motion and stress characteristics of the cage and rolling elements through this method are usually difficult to verify, and its accuracy is difficult to guarantee. Moreover, the method of building a bench through the laboratory can only evaluate the bearings under specific working conditions, and cannot be applied to real-time monitoring under real bearing working conditions. Therefore, there is an urgent need for techniques to detect and track the true motion state of movable parts of bearings.

Summary of the invention

The present invention has been made based on the above-mentioned drawbacks of the prior art. An object of the present invention is to provide a parameter collection and tracking system for the spatial motion of a bearing movable component, which can collect spatial motion parameters of at least one predetermined position of a bearing movable component in real time and send the spatial motion parameters Go to the designated device for processing. Another object of the present invention is to provide a parameter collection and tracking method for the spatial movement of a bearing movable member and a bearing using the above technology.

In order to achieve the above object of the invention, the present invention adopts the following technical solutions.

The present invention provides a parameter collection and tracking system for the spatial movement of a bearing movable component as follows, including: a parameter collection module attached to the bearing movable component and used to collect the bearing Spatial motion parameters of at least one predetermined position of the movable part; and a parameter sending module, the parameter sending module is in data communication with the parameter collecting module for transmitting the spatial motion parameters collected by the parameter collecting module and/or Or used to store the spatial motion parameters.

Preferably, the parameter acquisition module includes at least one parameter acquisition and sensing unit based on a micro-electromechanical system.

More preferably, each of the parameter collection and sensing units is used to collect the spatial motion parameters of its location in real time.

Preferably, the parameter collection and tracking system further includes a control module and a power supply module, the control module is in data communication with the parameter collection module and the parameter transmission module, and is used to implement the parameter collection module and the The operation of the parameter transmission module is controlled; and the power supply module is electrically connected to the parameter collection module, the parameter transmission module and the control module, so that the power supply module transmits the parameter collection module and the parameter The module and the control module are powered.

Preferably, the parameter collection and tracking system further includes a parameter receiving module and a parameter processing module located outside the movable part of the bearing, the parameter receiving module is in data communication with the parameter transmitting module to receive the parameter transmission A signal of the module containing the spatial motion parameter, the parameter processing module is in data communication with the parameter receiving module for processing the signal received by the parameter receiving module.

More preferably, the parameter processing module includes a signal amplifying unit for performing signal amplification on the signal and a signal filtering unit for performing signal filtering on the signal.

The present invention also provides a bearing including: a bearing movable component; at least one sensor, the at least one sensor is attached to the bearing movable component and is used to collect at least one predetermined position of the bearing movable component Spatial motion parameters; and a signal transmitter that is in data communication with the at least one sensor for transmitting the spatial motion parameters collected by the at least one sensor and/or for storing the spatial motion parameter.

Preferably, the at least one sensor is a motion sensor based on a micro-electromechanical system.

More preferably, each of the sensors is used to collect the spatial motion parameters of its location in real time.

Preferably, the motion sensor includes at least one of an accelerometer, a gyroscope, and a geomagnetic field sensor.

Preferably, the bearing further includes a central processor and a power supply, and the central processor is in data communication with both the at least one sensor and the signal transmitter, and is used to implement the at least one sensor and the signal transmitter Control of the operation of the power supply, and the power supply is used to electrically connect the at least one sensor, the signal transmitter, and the central processing unit, so that the power supply controls the at least one sensor, the signal transmitter, and the The central processor supplies power.

More preferably, the at least one sensor, the signal transmitter, the central processor, and the power supply are attached to the bearing movable member in a manner that does not affect the normal movement of the bearing movable member.

Preferably, the movable part of the bearing includes a rolling body and a cage of the bearing.

More preferably, the rolling element is a roller, and the roller includes an outer peripheral surface capable of contacting the raceway of the bearing and end surfaces located at both axial end portions of the roller, and the roller Mounting recesses are formed on the end surfaces of both axial end portions, and each of the mounting recesses accommodates and mounts one sensor.

More preferably, the sensor is provided at a first predetermined position at one axial end of the roller and at a second predetermined position at the other axial end of the roller, so that the sensor can collect the first The spatial motion parameter of the predetermined position and the spatial motion parameter of the second predetermined position.

More preferably, the first predetermined position and the second predetermined position are located on the central axis of the roller and are arranged symmetrically with respect to the geometric center of the roller.

More preferably, the rolling body is a ball, and an installation cavity is formed inside the ball, and the sensor is provided in the installation cavity, so that the sensor can collect spatial motion parameters of the geometric center of the ball.

The invention also provides a parameter collection and tracking method for spatial motion of a movable bearing component, which includes: collecting spatial motion parameters of at least one predetermined position of the movable bearing component; and transmitting and processing the spatial motion parameters and /Or temporarily store the spatial motion parameters for delayed transmission and processing.

Preferably, the processing of the spatial motion parameter includes performing signal amplification and signal filtering on the signal containing the parameter and establishing a time-dependent parameter curve using the obtained parameter.

More preferably, the processing of the spatial motion parameters further includes comparing and verifying using the parameter curve with a reference parameter curve established by simulation calculation.

Preferably, collecting spatial motion parameters of at least one predetermined position of the movable part of the bearing includes: when the movable part of the bearing is a roller, respectively collecting a first predetermined position of an axial end of the roller And the spatial motion parameter at the second predetermined position of the other axial end of the roller.

More preferably, the spatial motion parameters include spatial position parameters, and the first predetermined position and the second predetermined position are located on the central axis of the roller and are symmetrically arranged with respect to the geometric center when the predetermined time The linear values of the spatial position parameters of the first predetermined position collected on the points on the three spatial coordinate axes are x1, y1, and z1, respectively, and the spatial position parameters of the second predetermined position collected on the three spatial coordinate axes When the linear values of x2, y2, and z2 are respectively, the linear values of the spatial position parameters of the geometric center of the roller on the three spatial coordinate axes are (x1+x2)/2, (y1+y2)/2 , (Z1+z2)/2.

More preferably, the spatial motion parameter includes a spatial angle parameter, the first predetermined position and the second predetermined position are located on the central axis of the roller and are symmetrically arranged with respect to the geometric center, when at a predetermined time The rotation angle values of the spatial angle parameters of the first predetermined position collected around the three spatial coordinate axes are α1, β1, γ1 and the spatial angle parameters of the second predetermined position collected around the three coordinate axes When the rotation angle values are α2, β2, and γ2, the rotation angle values of the spatial angle parameter of the geometric center of the roller around the three coordinate axes are (α1+α2)/2, (β1+β2)/2, ( γ1+γ2)/2.

Preferably, collecting spatial motion parameters of at least one predetermined position of the movable component of the bearing includes: collecting spatial motion parameters of at least one predetermined position of the movable component of the bearing in real time through a sensor based on a micro-electromechanical system.

By adopting the above technical solution, the present invention provides a parameter acquisition and tracking system for the spatial movement of a bearing movable component, which includes a MEMS-based parameter acquisition module and a parameter transmission module attached to the bearing movable component . In this way, on the one hand, the spatial motion parameters at the predetermined position of the movable part of the bearing can be collected in real time through the parameter collection module; on the other hand, the spatial motion parameters can be preferably sent to the designated device in real time through the parameter transmission module, and then the designated device Based on these spatial motion parameters, the spatial motion state of the bearing movable component is obtained, so that the motion characteristics of the bearing movable component can be summarized and analyzed. In addition, the present invention also provides a parameter collection and tracking method for the spatial motion of the bearing movable component, which can track the spatial motion state of the bearing movable component by collecting the spatial motion parameters of the bearing movable component. In addition, the present invention also provides a bearing using the above technology.

BRIEF DESCRIPTION

FIG. 1 shows a structural block diagram of a parameter acquisition and tracking system for spatial movement of a bearing movable component according to the present invention.

Figure 2a shows a schematic cross-sectional view of an example of a movable bearing member (cylindrical roller) using the system in Figure 1; Figure 2b shows a cross-sectional perspective view of the cylindrical roller in Figure 2a; Figure 2c shows An illustrative schematic diagram of acquiring the spatial position parameter and the spatial angle parameter around the centroid of the first predetermined position and the second predetermined position based on the cylindrical roller in FIG. 2a is shown. 2d and 2e show explanatory diagrams of the inclination angle and the skew angle of the geometric center (center of mass) of the cylindrical roller in FIG. 2a.

FIG. 3 shows a schematic structural view of a tapered roller bearing using the cylindrical rollers in FIGS. 2a to 2c.

FIGS. 4a to 4c show graphs showing the time-dependent changes of three linear displacements, tilt angles, and skew angles based on simulation calculations of the geometric center of a cylindrical roller.

DESCRIPTION OF REFERENCE NUMERALS

1 Bearing movable parts 11 Power supply module 12 Parameter acquisition module 13 Control module 14 Parameter transmission module 2 Base station 21 Parameter reception module 22 Parameter processing module

1a cylindrical roller

1c mounting recess

11a power supply 12a sensor 13a central processor 14a signal transmitter 2a outer ring 3a cage 4a inner ring

A axis R radial direction P1 first predetermined position P2 second predetermined position.

detailed description

The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings of the specification. The basic structure of the parameter acquisition and tracking system for the spatial movement of the bearing movable part will be explained first.

(Basic structure of the parameter acquisition and tracking system used for the spatial movement of bearing movable parts)

As shown in FIG. 1, the parameter acquisition and tracking system for the spatial movement of a bearing movable part according to the present invention is used for a bearing movable part 1 such as a rolling element and a cage and includes a power supply module 11, a parameter acquisition module 12, The control module 13, the parameter sending module 14, the parameter receiving module 21 and the parameter processing module 22 (the last two constitute the base station 2).

Specifically, in this embodiment, the movable member 1 of the bearing may be a rolling body accommodated in a raceway between the outer ring and the inner ring of the bearing, and the rolling body may be a ball or a cylindrical roller 1a (as shown in FIGS. 2a to 2a). (Shown in FIG. 2c), tapered rollers, needle rollers, etc.; the movable member 1 of the bearing may be a cage that holds the rolling elements.

In this embodiment, the power supply module 11 is attached to the bearing movable component 1 and the power supply module 11 is electrically connected to the parameter collection module 12, the control module 13, and the parameter transmission module 14, so that the power supply module 11 has 13 and the parameter sending module 14 supply power, so as to ensure the electric energy required for the parameter collection module 12, the control module 13 and the parameter sending module 14 to work normally.

In addition, the power supply module 11 is preferably a micro battery and adopts a wireless charging method. Since the service life of bearings is generally long, in order to meet the long-term normal operation of the entire system, a battery with higher performance is required. The power supply module 11 can also realize the automatic sleep and wake-up functions of the entire system, and automatically sleep when the bearing is detected to be at a standstill, which can reduce the overall power consumption of the system.

In this embodiment, the parameter collection module 12 is a microelectromechanical system (MEMS)-based sensor for collecting spatial motion parameters of a predetermined position of the bearing movable member 1 in real time, so the size of the parameter collection module 12 can be very small. The parameter collection module 12 is attached to the bearing movable component 1, preferably disposed inside the bearing movable component 1 and a parameter collection module 12 is used to collect spatial motion parameters of a predetermined position of the bearing movable component 1 in real time.

Further, the parameter acquisition module 12 preferably includes a (three-axis) accelerometer, a (three-axis) gyroscope, and a (three-axis) geomagnetic field sensor. The sensor selected here has high enough performance to achieve complete parameter measurement and signal acquisition, and It can resist aliasing and noise; and the sensor used here has low power consumption, which can ensure that the function continues to be effective before the bearing fails.

In this embodiment, the control module 13 is attached to the bearing movable member 1 and the control module 13 is in data communication with both the parameter acquisition module 12 and the parameter transmission module 14. In this way, the control module 13 can control the parameter collection module 12 to realize real-time collection of spatial motion parameters, and the control module 13 can perform preliminary processing on these parameters. Further, the control module 13 can also control the parameter sending module 14 to transmit the collected spatial motion parameters to the parameter receiving module 21 in real time or temporarily store the collected spatial motion parameters for delayed transmission.

In this embodiment, the parameter transmission module 14 is attached to the bearing movable member 1 and directly communicates with the control module 13, thereby achieving indirect data communication with the parameter acquisition module 12 for the parameter reception module 21 of the base station 2 The spatial motion parameters collected by the transmission parameter collection module 12 in real time. The parameter sending module 14 uses existing wireless transmission technologies, such as Bluetooth, wifi, and so on.

In addition, if real-time transmission is not required in the actual application process, the parameter sending module 14 can also be used as a parameter temporary storage to temporarily store the collected spatial motion parameters.

In the present embodiment, the base station 2 including the parameter receiving module 21 and the parameter processing module 22 in data communication with each other is located outside the bearing where the bearing movable member 1 is located.

Specifically, the parameter receiving module 21 corresponds to the parameter sending module 14 to receive the parameter signal from the parameter sending module 14. The parameter processing module 22 includes a module for modeling and analyzing parameters, and at least an amplifier and a filter. In this way, in addition to the necessary modeling and analysis of the parameter signal, the parameter processing module 22 can also perform other processing including amplification and filtering on the parameter signal received by the parameter receiving module 21.

The basic structure of the parameter acquisition and tracking system used for the spatial motion of the movable part of the bearing has been described above. In the following, the structure of an example (cylindrical roller) of a bearing movable component 1 adopting the above-mentioned parameter collection and tracking system for the spatial motion of the bearing movable component (cylindrical roller) will be described using a cylindrical roller as the bearing movable component 1 as an example. The structure of tapered roller bearings for cylindrical rollers.

(Structure of cylindrical roller with spatial motion tracking system of bearing rolling body and tapered roller bearing including the cylindrical roller)

It should be noted that in the following description, the axial and radial directions refer to the axial and radial directions of the cylindrical roller, respectively; and one end of the axial direction refers to the left end portion in FIG. 2a, and the other axial end portion refers to Right end in Figure 2a.

As shown in FIGS. 2a to 2c, in the present embodiment, the movable bearing member 1 of the spatial motion tracking system using a bearing rolling element is a cylindrical roller 1a. The cylindrical roller 1a has a cylindrical shape as a whole and includes an outer peripheral surface in contact with the raceway of the bearing and end surfaces on both ends of the roller in the axial direction A (ie, both axial ends). Mounting recesses 1c are formed on the end surfaces of the ends, and the power supply 11a, the central processing unit 13a, the sensor 12a, and the signal transmitter 14a are sequentially installed in the mounting recesses 1c. The dimension of the mounting recess 1c in the radial direction R is smaller than the dimension of the corresponding end surface in the radial direction R, and the central axis of the mounting recess 1c is consistent with the central axis of the cylindrical roller 1a.

Specifically, from the bottom of each mounting recess 1c toward the opening of the mounting recess 1c, a power supply 11a, a central processing unit 13a, a sensor 12a, and a signal transmitter 14a are provided in this order, so that the signal transmitter 14a does not exceed the signal transmitter 14a The end face corresponding to the mounting recess 1c is provided so that the power supply 11a, the CPU 13a, the sensor 12a, and the signal generator 14a are attached to the cylindrical roller 1a in such a manner as not to affect the normal movement of the cylindrical roller 1a.

As shown in FIG. 3, the tapered roller bearing using the cylindrical roller 1a includes an outer ring 2a and an inner ring 4a opposed to each other, and a raceway for accommodating the cylindrical roller 1a is formed between the outer ring 2a and the inner ring 4a. A plurality of prior art cylindrical rollers and at least one cylindrical roller 1a of the present invention described above are held in a raceway by a cage 3a. In this way, the spatial motion parameters of the at least one cylindrical roller 1a of the present invention can be collected in real time. The spatial motion parameters include the parameters of 6 degrees of freedom in space (as shown in FIGS. 2c to 2e), that is, the linear offsets and the three coordinate axes (x-axis, y-axis, and z-axis) in three-dimensional space. The rotation angle around these three coordinate axes. Based on the collected spatial motion parameters, a curve reflecting the true spatial motion state and posture of the cylindrical roller 1a is obtained, which can be further verified and analyzed. Specifically, at least the following parameters/mathematical models can be obtained through direct measurement and further verification and analysis:

1. The position of the cylindrical roller 1a on the three coordinate axes and the three rotation angles of the cylindrical roller 1a around the geometric center (center of mass);

2. The speed and acceleration corresponding to the six degrees of freedom of the cylindrical roller 1a;

3. Sliding characteristics of cylindrical roller 1a and cage 3a;

4. Lubricating properties of lubricating medium;

5. Defects of raceway and cylindrical roller 1a and bearing life; and

6. The structure of the cage 3a is deformed.

The structure of an example (cylindrical roller 1a) of a bearing movable member 1 using the technology of the present invention and the structure of a tapered roller bearing including the cylindrical roller 1a have been described above, and the parameter collection and tracking method will be described below in conjunction with this example .

(Parameter collection and tracking method for space motion of bearing movable parts)

In summary, the parameter collection and tracking method based on the spatial motion of the cylindrical roller 1a includes the following processes:

The sensors 12a installed in the mounting recesses 1c at both ends of the axial direction of the cylindrical roller 1a respectively measure the spatial motion parameters of the first predetermined position P1 of the axial one end of the cylindrical roller 1a and the axial direction of the roller in real time The spatial motion parameter of the second predetermined position P2 at one end; and

After the sensor 12a measures and collects the spatial motion parameters in real time, the spatial motion parameters are sent to the parameter receiving module 21 of the base station 2 through the signal transmitter 14a, and the parameter processing module 22 of the base station 2 uses the parameter signal received by the parameter receiving module 21 to track The spatial motion parameter of the geometric center of the roller at any moment.

More specifically, as shown in FIG. 2c, the first predetermined position P1 and the second predetermined position P2 are generally points on each sensor 12a, preferably the geometric center of the sensor 12a. Further, the first predetermined position P1 and the second predetermined position P2 are arranged symmetrically with respect to the geometric center on the center axis of the roller. In this way, it is possible to conveniently calculate the spatial motion parameter at any time of the geometric center of the roller via the spatial motion parameter of the first predetermined position P1 and the spatial motion parameter of the second predetermined position P2 collected in real time. As mentioned above, taking the spatial position parameter and the spatial angle parameter around the geometric center (center of mass) as an example to illustrate how to obtain the spatial motion parameter.

Regarding the spatial position parameter, when the linear value (offset) of the spatial position parameter of the first predetermined position P1 collected at the predetermined time point on the three spatial coordinate axes is x1, y1, z1, respectively, and the collected second When the linear values of the spatial position parameters of the predetermined position P2 on the three spatial coordinate axes are x2, y2, and z2, respectively, the linear values of the spatial position parameters of the geometric center of the cylindrical roller 1a on the three spatial coordinate axes are: (x1+x2)/2, (y1+y2)/2, (z1+z2)/2.

Regarding the spatial angle parameter, when the spatial angle parameter of the first predetermined position P1 collected at a predetermined time point is a rotation angle value of α1, β1, γ1 around the three spatial coordinate axes and the spatial angle parameter of the second predetermined position P2 collected When the rotation angle values around the three coordinate axes are α2, β2, and γ2, the spatial angle parameter of the geometric center of the cylindrical roller 1a around the three coordinate axes is (α1+α2)/2, (β1 +β2)/2, (γ1+γ2)/2. Among these three rotation angle values, as shown in FIGS. 2d and 2e, the inclination angle α generated in the yz plane and the skew angle γ generated in the xy plane have very important reference significance.

In this way, on the one hand, when the above spatial motion parameters are measured, the curve of the spatial position parameter of the geometric center of the cylindrical roller 1a on the three spatial coordinate axes can be established with the curve calculated by simulation in FIG. 4a The reference curve of the spatial position parameter of the geometric center of the cylindrical roller 1a is compared for verification and analysis to obtain the desired result. On the other hand, the curve created by the values of the inclination angle α and the skew angle γ of the geometric center of the cylindrical roller 1a and the inclination of the geometric center of the cylindrical roller 1a in FIGS. 4b and 4c obtained by simulation calculation The reference curves of the angle and the skew angle are compared for verification and analysis to obtain the desired result.

The specific embodiments of the present invention have been described in detail above, but it should be noted that:

I. When the rolling element 1 is a ball, a mounting cavity for the power supply 11a, the sensor 12a, the central processor 13a, and the signal transmitter 14a may be formed inside the ball so that the sensor 12a measures the spatial motion parameter of the geometric center of the ball .

II. Although only the power source 11a of the tracking system, the sensor 12a, the central processing unit 13a, and the signal transmitter 14a are attached to the rolling element in the above embodiment, it is also possible to integrate these components into the cage 3a. position.

III. The technical solution of the present invention can evaluate the running state of the bearing based on the parameter signal processed by the original signal. Under certain bearing operating conditions, the motion characteristics of the movable parts of the bearing have certain regularities, such as the geometric center trajectory of the rolling element and the rotation angle around the geometric center. The tracking system of the present invention can continuously collect and establish the motion law database of the movable part of the bearing in the early stage, and based on the database, the specific motion characteristics of the movable part of the bearing corresponding to the specific failure mode can be obtained.

In addition, the tracking system according to the present invention can continuously realize the monitoring of the movable parts of the bearing, and can ensure the safety and predictability of the service life of the bearing. On the one hand, it can monitor the working status of bearings, and find a reliable basis for bearing design and development. Verify and correct the established bearing dynamics numerical simulation model (reference curve). On the other hand, the system according to the present invention can be directly applied to the actual working process of the bearing to realize real-time healthy maintenance of the bearing and early warning of the abnormal working bearing. In addition, the system according to the present invention is modularized to facilitate installation and use.

Claims

A parameter acquisition and tracking system for space motion of bearing movable parts, including:

A parameter collection module, the parameter collection module is attached to the bearing movable component and used to collect spatial motion parameters of at least one predetermined position of the bearing movable component; and

A parameter sending module, the parameter sending module is in data communication with the parameter collecting module, for transmitting the spatial motion parameters collected by the parameter collecting module and/or for storing the spatial motion parameters.
The parameter collection and tracking system according to claim 1, wherein:

The parameter acquisition module includes at least one parameter acquisition and sensing unit based on a micro-electromechanical system.
The parameter collection and tracking system according to claim 2, characterized in that each of the parameter collection sensing units is used to collect the spatial motion parameters of its location in real time.
The parameter collection and tracking system according to any one of claims 1 to 3, wherein the parameter collection and tracking system further includes a control module and a power supply module,

The control module is in data communication with the parameter collection module and the parameter transmission module, and is used to control the work of the parameter collection module and the parameter transmission module; and

The power supply module is electrically connected to the parameter collection module, the parameter transmission module, and the control module, so that the power supply module supplies power to the parameter collection module, the parameter transmission module, and the control module.
The parameter collection and tracking system according to any one of claims 1 to 4, wherein the parameter collection and tracking system further includes a parameter receiving module and a parameter processing module located outside the movable part of the bearing,

The parameter receiving module is in data communication with the parameter sending module to receive the signal including the spatial motion parameter from the parameter sending module, and the parameter processing module is in data communication with the parameter receiving module for The signal received by the parameter receiving module is processed.
The parameter acquisition and tracking system according to claim 5, wherein the parameter processing module includes a signal amplification unit for performing signal amplification on the signal and a signal filtering unit for performing signal filtering on the signal .
A bearing, including:

Bearing movable parts;

At least one sensor, the at least one sensor is attached to the bearing movable member and is used to collect spatial motion parameters of at least one predetermined position of the bearing movable member; and

A signal transmitter, which is in data communication with the at least one sensor for transmitting the spatial motion parameters collected by the at least one sensor and/or for storing the spatial motion parameters.
The bearing according to claim 7, wherein the at least one sensor is a motion sensor based on a micro-electromechanical system.
The bearing according to claim 8, wherein each of the sensors is used to collect the spatial motion parameters of its location in real time.
The bearing according to claim 8 or 9, wherein the motion sensor includes at least one of an accelerometer, a gyroscope, and a geomagnetic field sensor.
The bearing according to any one of claims 7 to 10, characterized in that

The bearing also includes a central processor and power supply,

The central processor is in data communication with both the at least one sensor and the signal transmitter, and is used to control the actions of the at least one sensor and the signal transmitter, and

The power supply is used to electrically connect the at least one sensor, the signal transmitter, and the central processor, so that the power supply supplies power to the at least one sensor, the signal transmitter, and the central processor .
The bearing according to claim 11, characterized in that

The at least one sensor, the signal transmitter, the central processor, and the power supply are attached to the bearing movable member in a manner that does not affect the normal movement of the bearing movable member.
The bearing according to any one of claims 7 to 12, wherein

The movable part of the bearing includes a rolling body and a cage of the bearing.
The bearing according to claim 13, wherein the rolling element is a roller, and the roller includes an outer peripheral surface capable of contacting the raceway of the bearing and axial end portions of the roller End face, and

Mounting recesses are formed on the end surfaces of both ends of the roller in the axial direction, and each of the mounting recesses accommodates and mounts one sensor.
The bearing according to claim 14, wherein the sensor is provided at a first predetermined position at one axial end of the roller and at a second predetermined position at the other axial end of the roller, so that The sensor can collect spatial motion parameters of the first predetermined position and spatial motion parameters of the second predetermined position.
The bearing according to claim 15, wherein the first predetermined position and the second predetermined position are located on the center axis of the roller and are symmetrically arranged with respect to the geometric center of the roller.
The bearing according to claim 13, wherein the rolling element is a ball, and an installation cavity is formed inside the ball, and the sensor is provided in the installation cavity so that the sensor can collect the ball Spatial motion parameters of the geometric center.
A parameter collection and tracking method for space motion of bearing movable parts, including:

Collecting spatial motion parameters of at least one predetermined position of the movable part of the bearing; and

The spatial motion parameters are transmitted and processed and/or the spatial motion parameters are temporarily stored for delayed transmission and processing.
The parameter acquisition and tracking method according to claim 18, characterized in that the processing of the spatial motion parameters includes signal amplification and signal filtering of the signal containing the parameter and establishment of time-related parameters using the obtained parameters curve.
The method for collecting and tracking parameters according to claim 19, wherein the processing of the spatial motion parameters further comprises comparing and verifying the parameter curve with a reference parameter curve established by simulation calculation.
The method for collecting and tracking parameters according to any one of claims 18 to 20, characterized in that collecting spatial motion parameters of at least one predetermined position of the movable member of the bearing includes: wherein the movable member of the bearing is a roller In the case of, respectively, the spatial motion parameters of the first predetermined position of one end of the roller in the axial direction and the spatial motion parameters of the second predetermined position of the other end of the roller in the axial direction are collected.
The parameter acquisition and tracking method according to claim 21, wherein the spatial motion parameters include spatial position parameters, and the first predetermined position and the second predetermined position are located on the central axis of the roller and Symmetrically arranged with respect to the geometric center,

When the spatial position parameters of the first predetermined position collected at predetermined time points have linear values on three spatial coordinate axes of x1, y1, and z1, respectively, and the spatial position parameters of the second predetermined position collected are three When the linear values on the spatial coordinate axes are x2, y2, and z2, the linear position parameters of the geometric center of the roller on the three spatial coordinate axes are (x1+x2)/2, (y1+ y2)/2, (z1+z2)/2.
The parameter acquisition and tracking method according to claim 21 or 22, wherein the spatial motion parameter includes a spatial angle parameter, and the first predetermined position and the second predetermined position are located on the central axis of the roller Arranged symmetrically with respect to the geometric center,

When the rotation angle values of the first predetermined position spatial angle parameters collected at predetermined time points around three spatial coordinate axes are α1, β1, and γ1 and the collected spatial angle parameters of the second predetermined position around three When the rotation angle values of each coordinate axis are α2, β2, and γ2, the rotation angle values of the spatial angle parameter of the geometric center of the roller around the three coordinate axes are (α1+α2)/2, (β1+β2) /2, (γ1+γ2)/2.
The method for collecting and tracking parameters according to any one of claims 18 to 23, characterized in that collecting spatial motion parameters of at least one predetermined position of the movable member of the bearing includes: The spatial motion parameter of at least one predetermined position of the movable part of the bearing.